A pill picking apparatus includes a main arm, a picking device mounted to the main arm, and a transfer mechanism. The main arm is rotatable about a first axis and defines an opening. The picking device is adapted to pick a pill from a pill box. The transfer mechanism includes a transfer cam being rotatable about a second axis, and a driving wheel mounted to the transfer cam and received in the opening of the main arm. When the transfer cam rotates about the second axis, the driving wheel is rotated about the second axis by the transfer cam and presses an edge of the opening of the main arm, to drive the main arm to rotate about the first axis.
