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.