A pill picking apparatus includes a pill picking arm and driven mechanism. The driven mechanism includes a base and a rotating portion. The base defines a guiding slot. The rotating portion is received in the base and slidably engaged in the guiding slot. The rotating portion is movable along a direction parallel to a Z axis in the guiding slot to push the pill picking arm into a medicine box, and rotatable around a rotating axis parallel to the Z axis to rotate the pill picking arm. The medicine box is rotatable along the pill picking arm.一種取藥裝置,包括有取藥臂及驅動機構,所述驅動機構包括有基座及旋轉部,所述基座開設有導槽,所述旋轉部收容於所述基座上,並滑動卡於所述導槽內;所述旋轉部能夠於所述導槽內沿平行於Z軸之方向移動,以推動所述取藥臂伸入一藥盒,並於移動之同時能夠繞平行於所述Z軸之轉軸轉動,以帶動所述取藥臂轉動,並藉由所述取藥臂之轉動帶動所述藥盒轉動。100‧‧‧藥盒200‧‧‧取藥臂310‧‧‧基座320‧‧‧旋轉部325‧‧‧滑扣部330‧‧‧驅動架341‧‧‧轉動臂343‧‧‧連桿
