To improve the battery life of the battery swap robot, an integrated optimization method of the battery swap robot lifting system structure and control parameters is proposed. Firstly, the preliminary parameter matching on the structure of the battery swap robot lifting system is performed. Secondly, a sliding mode variable structure controller is designed, and based on this, an energy consumption model is established for the lifting process of the lifting system. Then, an optimization model targeting the energy consumption of the lifting system and the steady-state error of angular displacement is established, and the multi-objective optimization algorithm is used to solve it to obtain the optimal combination of the structure and control parameters for the lifting energy consumption and angular displacement error. Finally, the reliability of the optimization results is verified through experiments. The optimization results show that the steady-state error is reduced by 53.68% and the energy consumption of the lifting system is reduced by 10.93% after the integrated optimization.