Quaternary ammonium compounds useful as antagonists of muscarinic receptors

A compound of formula I: ** ** Formula salt form or zwitterionic form, where: ** ** Formula R1, is selected from -C1-6alkyl, C2-6 -alkenyl, -alkynyl C1 -6 alkylene-, C1-3-SCH3, alkynyl, C3-9, yheteroarilo; R2 is an aryl or heteroaryl group; R3 is selected from H and -C 0-1 alkylene-OH; or when R1 is C3-9 -cycloalkyl, R3 may form a double bond with the carbon atom on the group - C3-9 cycloalkyl; or -CR1R2 together form a group of the formula ** ** Formula a is 0 or an integer of 1 to 3; each R4 is selected, independently, from fluoro and - C1-4alkyl; R5 is selected from - C1-5 alkyl and C3-5 -alkylene C0-1- cycloalkyl; R6 is selected from C 1-3 alkyl, -C1-2alkylene-C3-7cycloalkyl, -C 0-4 -OH, - 1-2C-C (O) O-C1-4alkyl, and -C1 -2-C (O) NR6aR6b; wherein R6a and R6b are selected, independently, from H and -C1-4alkyl; or R6 is taken together with R5 to form - C3-5- alkylene; Z is selected from a bond, -O-, -S-, -S (O) -, -SO2-, -SO2-NRZ1-, -NRZ1-SO2-, -C (O) -, -OC (O) -, -C (O) O-, -NRZ1C (O) -, -C (O) NRZ1-, -NRZ2-C (O) -NR Z3, -NRZ2-C (S) -NR Z3, -CH ( OH) -, and -C (> = NO-R Z4) -; wherein RZ1, seselecciona from H and -C1-4alkyl; RZ2 RZ3 and are selected, independently, from H, -C1-4alkyl, and -C 3-6 cycloalkyl, or R Z2 and RZ3, are taken together to form alkylene or C2-4- - C2- alkenylene 3-; and R Z4, seselecciona from -C1-4alkyl and benzyl; and Q is a heteroaryl or aryl group; wherein the C3-9 cycloalkyl, R1, and aryl, R2 is optionally substituted located, with 1 to 5 R groups independently selected from -C1-4alkyl, -C2-4alkenyl, -alkynyl C2- 4, -C3-6cycloalkyl, cyano, halo, -OR, -SR, -S (O) Ra, -S (O) 2Ra and -NRbRc; wherein each R is selected independently from H, -C1-4alkyl, -C2-4alkenyl I, I -C2-4alkynyl, and -C3-6cycloalkyl; and each Rb and Rc is selected, a formaindependiente from H, -C1-4alkyl, -C2-4alkenyl, -C2-4alkynyl, and -C3-6cycloalkyl; wherein the aryl, Q, seencuentra optionally substituted with 1 to 5 RQ groups independently selected from halo, -C1-4alkyl, -C 0-4 alkylene-OH, cyano, -C 0-2 alkylene-COOH, -C (O) O-C1-4alkyl, -O-C1-4alkyl, -S-C1-4alkyl, -NH-C (O) -alquiloC1-4, -N-di-C1-4alkyl, and - N + (O) O; wherein alkyl, alkylene, alkenyl, alkenylene, alkynyl, ycicloalquilo in R, R3-6, Z, Q, and RQ each group is optionally substituted with 1 to 5 fluoro atoms, and each -CH2- group in - (CH2) 1-4-, is optionally substituted with 1 or 2 substituents, independientementeseleccionados C1-2 alkyl, -OH, fluoro, and phenyl; and salts thereof, pharmaceutically acceptable.