The invention relates to a five-DOF (Degree of Freedom) spraying robot based on a space four-DOF parallel connection mechanism, which belong to the technical field of mechanical manufacture. The spraying robot comprises a moving unit and a spraying operation mechanism unit; and a motion stand of a spraying operation mechanism is a motion part of the moving unit and can realize large-range straight movement by a guide rail. The spraying operation mechanism comprises a moving platform, a motion stand, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the moving platform is provided with an atomizer; the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the moving platform and the motion stand; and because the structure is symmetrical, the structures of the first branch chain and the third branch chain are same, and the structures of the second branch chain and the fourth branch chain are same. The four branch chains are connected with the moving platform and the motion stand to form a space parallel connection closed-loop mechanism; and the parallel connection mechanism drives the moving platform to move by four input motions and realizes two moving DOF and two rotating DOF. By combining the motion of the moving mechanism unit and the motion of the spraying operation mechanism unit, the spraying robot can realize three moving DOF and two rotating DOF. The spraying robot has the advantages of symmetrical structure, high flexibility, high precision and rigidity, easy manufacture, convenient control and easy modularization realization.