目的 为了解决袜子腰封过程中不同规格纸卡的多次弯折问题，设计一种摆动式自动折纸机构。方法 采用机构设计方法设计齿轮齿条机构和摇杆滑块机构，从而实现对纸卡进行竖折、横折等多次弯折。采用Matlab优化函数库对机构的摇杆、连杆、摆动角度、气缸行程等尺寸参数进行优化;通过分析确定折弯块摆动角度为15°;利用矢量封闭方程与坐标变换求解折纸过程的运动方程。结果 通过SolidWorks的motion插件对摆动式折纸机构进行运动学仿真分析，仿真结果表明，该机构能满足袜子自动折纸的运动要求，运动轨迹与运动方程相匹配。结论 所设计的摆动式自动折纸机构不仅满足折纸功能要求，而且实现了单个机构完成纸卡的多向弯折，为袜子腰封自动化提供了一种适应性更强的折纸新方案。

In order to solve the problem of multiple bending of paper cards of different specifications in the process of socks waist sealing, a swing type automatic paper folding mechanism is designed. The mechanism design method is used to design the rack and pinion mechanism and the rocker slider mechanism, which can bend the paper card vertically and horizontally for many times. The dimensional parameters of the mechanism such as rocker, connecting rod, swing angle, cylinder stroke are optimized by Matlab optimization function library. The swing angle of the bending block is determined to be 15 degrees through analysis. The vector closed equation and coordinate transformation are used to solve the motion equation of the origami process. Through the motion plug-in of SolidWorks, the kinematics simulation analysis of the swing origami mechanism is carried out. The simulation results show that the mechanism can meet the motion requirements of the sock automatic origami, and the motion trajectory matches the motion equation.The swings type automatic origami mechanism designed in this paper not only meets the functional requirements of origami, but also realizes the multi-directional bending of paper card by a single mechanism, which provides a new origami scheme with stronger adaptability for the automation of sock waist seals.