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Acoustic tweezers are gaining increasing attention due to their excellent biological compatibility. Recently, the concept of topology has been expanded from condensed matter physics into acoustics, giving rise to a robust wave manipulation against defects and sharp turns. So far, topological acoustics have not been experimentally realized in on-chip level which can be worked as tweezers for microparticle manipulations. Here, we achieved a topological on-chip acoustic tweezer based on the topologically protected phononic mode. This tweezer consisted of one-dimensional arrays of Helmholtz resonant air cavities. Strong microfluidic oscillations induced by acoustic waves were experimentally observed at water-air surfaces of Helmholtz resonant air cavities at the topological interface. Acoustic radiation force induced by these microfluidic oscillations captured microparticles whose sizes were up to 20 um and made them do orbital rotations. Our topological on-chip acoustic tweezer realized non-contact label-free microparticle manipulations in microfluidics and exhibited enormous application potential in the biomedical field.