The present invention claims a four-degree-of-freedom high-speed parallel robot with continuous rotation capability, which includes: a fixed platform, a moving platform, and a first branch chain, a second branch chain, and a first branch chain arranged between the fixed platform and the moving platform. Three branch chains and the fourth branch chain; four driving devices are symmetrically arranged on the fixed platform; the first branch chain and the third branch chain have the same structure, and the second branch chain and the fourth branch chain have the same structure The moving platform includes a wishbone, a first rocker, a second rocker, a crank A, a connecting rod A, a crank B, a connecting rod B, a crank C, a connecting rod C, a crank D, a connecting rod D, and a spur gear A, cylindrical gear B, cylindrical gear C, cylindrical gear D and central cylindrical gear. The present invention adopts four sets of symmetrically arranged rocker crank mechanisms, and by staggering the dead points of each set of rocker mechanisms and the transmission of the fixed-axis gear train, the infinite rotation of the end effector in the direction of forward rotation or reverse rotation can be realized.