Self-adaptive flexible vehicle inserting, lifting and parking method and device

The invention discloses a self-adaptive flexible inserting and lifting vehicle parking and taking method and device, and belongs to the technical field of intelligent three-dimensional parking equipment.The technical implementation method includes the steps that 1, in the X-direction retraction state, a vehicle enters and exits from the bottom of the vehicle in the Y direction along with carrying equipment; 2, self-adaptive flexible extension is carried out in the X direction to insert and take wheels or retraction is carried out to store vehicles; and 3, lifting and carrying the vehicles or descending and storing the vehicles in the Z direction. A device for realizing the technical method comprises a mounting frame, a flexible inserting and lifting unit, a self-lubricating clamping plate, a connecting bolt, a reference wheel, reference carrying equipment and the like. The whole parking and taking time is short, the net height size of the needed parking space is small, a parking space parking frame is not nee