This work reports a method for microblocks and impurities sweep using a kind of cube-shaped hematite microrobot (CHM) with a side length of about 2 $\mathrm{\mu }$m under the vision-guided magnetic driving (VMD) system. CHM was manipulated by the VMD system in two motion modes: rolling and tumbling in a low Reynolds number ($Re$) environment. The CHM can go up to the peak velocity of 20.8 $\mathrm{\mu }$m/s (10.4 body lengths/s) in rolling mode under a 100 Hz and 10 mT rotating magnetic field and climb over barriers capable of meeting complex environment requirements. CHM was capable of tracking automatically generated predefined trajectories accurately and getting out from a micromaze by modulating intensity, frequency, and direction of magnetic field. The CHMs had two collective states: rotating CHMs pairs in rotating magnetic driving field and rows of CHMs in a conical rotating magnetic driving field. A strategy is proposed to transfer rotating CHMs pairs to target areas efficiently by magnetic field. When encountered microblock at the entrance of microchannel, single CHM can trap, transport and release the microblock with about 200 times of volume. Finally, rows of CHMs were generated for sweeping impurity tasks in microchannel. The experimental results demonstrate that the CHM has superior potential for biomedical sweep task in complex curved microchannels, similar to the blood vessels.

这项工作报告了一种使用边长约为2的立方体形状的赤铁矿微型机器人（CHM）进行微块和杂质清除的方法 $\mathrm{\mu }$m在视觉引导磁驱动（VMD）系统下。CHM由VMD系统以两种运动模式操纵：在低雷诺数下滚动和翻滚（$\mathrm{[R}Ë$） 环境。CHM可以达到20.8的峰值速度$\mathrm{\mu }$在100 Hz和10 mT旋转磁场下以滚动模式处于m / s（10.4体长/ s）的状态，并爬过能够满足复杂环境要求的障碍物。CHM能够准确地跟踪自动生成的预定义轨迹，并能够通过调制磁场​​的强度，频率和方向从微迷宫中走出来。CHM具有两个集体状态：在旋转磁驱动场中的旋转CHM对和在锥形旋转磁驱动场中的CHM行。提出了一种通过磁场将旋转的CHM对有效转移到目标区域的策略。当在微通道入口遇到微块时，单个CHM可以捕获，运输和释放体积约为200倍的微块。最后，生成了CHM行，用于扫除微通道中的杂质任务。