The invention provides a rotary clamping manipulator based on automatic module control. The rotary clamping manipulator based on automatic module control comprises a main swing arm, a top cover, a servo motor A, a rack belt, a servo motor B, a connecting shaft, an auxiliary device, a clamping block, a transmission cylinder, a tension screw rod, a transmission rod, an underframe, a mechanical finger, a self-adjusting finger plate, an auxiliary guide ring and a counterweight block, wherein the top of the main swing arm is provided with a T-shaped groove; the top cover is fixedly arranged in theT-shaped groove through a bolt; a through hole is formed in the end portion of the main swing arm, and hole shoulder structures are arranged in both sides of the main swing arm; and tapered roller bearings are fixedly arranged on the outer sides of hole shoulders in interference fit mode. Due to the arrangement of a rack ring, the servo motor A can be matched for axial movement, the transmission of the rack belt is matched for controlling the rotating position of the rotating arm, the rotation of the mechanical arm is completed, the structure is simple and convenient, the servo motors can be accurately controlled through a module, the rotating precision is high, the force control is uniform, and accurate placement of parts by the manipulator is facilitated.