The invention relates to stereoscopic parking equipment capable of achieving vehicle lifting through an automatic grabbing device. The stereoscopic parking equipment comprises a first-layer parking place (1), a second-layer parking place (2), a crown block frame (3), a vehicle carrying plate perpendicular lifting device (5) and a crown block frame horizontal moving device. The stereoscopic parking equipment is characterized by further comprising the grabbing device (7); the grabbing device (7) is in different height positions through the vehicle carrying plate perpendicular lifting device (5); when lowered to the height A2 from the height A1, the grabbing device (7) grabs a lifting rod (22) of a vehicle carrying plate (21) on the second-layer parking place (2); and when lowered to the height A3 from the height A2, the grabbing device (7) is separated from the lifting rod (22) of the vehicle carrying plate (21) on the second-layer parking place (2), wherein A1>A2>A3.