In order to improve the battery life of the battery swap robot, an energy-saving-oriented battery swap robot lifting system structure and control parameter integration optimization method is proposed. Firstly, perform preliminary parameter matching on the structure of the battery swap robot lifting system; then, design a sliding mode variable structure controller, and based on this, establish an energy consumption model for the lifting process of the lifting system. Secondly, establish an optimization model targeting the energy consumption of the lifting system and the steady-state error of angular displacement, 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% after the integrated optimization, and the energy consumption of the lifting system is reduced by 10.93%.