Abstract: An electronic parts mounting device roughly turns a mounting head to which an electronic part is sucked in multiple actions in a plurality of steps in accordance with the direction in which the electronic part is to be mounted. Then, the attitude of the electronic part is detected and the mounting head is precisely turned in accordance with the results of the detection so as to correct the attitude of the electronic part so that the electronic part can be accurately mounted on a printed circuit board.

Abstract: The present invention relates to the wrist device of a robot which has a speed reducers built in a wrist portion and which attains three degrees of rotating freedom orthogonal to one another, and is characterized in that three transmission shafts penetrating through the interior of an arm are arranged in parallel with one another as power transmission means within the arm.

Abstract: A centrifugal turbomachine including a discharge port having a center line intersecting the axis of a rotatable shaft and the center line of the suction port so that the center line of the suction port is aligned with the axis of a rotatable shaft, and those center line axis and the center line of the discharge port lie within a plane, and an outer casing concentrical with the rotatable shaft and in the form of cylinder or consisting of discs serving as support means. The centrifugal turbomachine provides the following advantages in use:(1) The machine can be installed by steplessly changing the discharge direction of fluid in a range of about 180.degree.