Robot system and the operation thereof

Abstract

A robot system has a first robot arrangement comprising at least one first robot (1), a first robot controller (10) for controlling this first robot and a first communication master module (11), a first component arrangement comprising at least one first component (110), which has an actuator system and / or a sensor system, and a first communication slave module (111), wherein the first communication master module and the first communication slave module are configured to wirelessly transmit data from the first communication master module to the first communication slave module and / or from the first communication slave module to the first communication master module. The invention also relates to a method and a computer program (product).

Description

[0001] Description

[0002] Robot system and its operation

[0003] The present invention relates to a robot system, a method for operating the robot system and a computer program or computer program product for carrying out the method.

[0004] Robot systems comprise one or more robot arrangements, each comprising at least one robot and a robot controller for controlling the robot, and optionally at least one higher-level controller.

[0005] Typically, the controllers communicate with each other, with the robot(s) and other components, each of which has actuators and / or sensors, via real-time capable and wired networks or buses, for example EtherCAT or similar.

[0006] Data that is transferred from or to the components and is not real-time critical places a load on the networks or buses.

[0007] The object of the present invention is to improve a robot system and its operation.

[0008] This object is achieved by a robot system having the features of claim 1 and a method having the features of claim 9 for operating a robot system described herein. Claim 11 protects a computer program or computer program product for implementing a method described herein. The subclaims relate to advantageous developments.

[0009] One aspect of the present invention is based on the idea of ​​implementing communication with components of a robot system that have actuators and / or sensors at least partially wirelessly, thereby relieving the load on preferably real-time-capable and wired networks or buses via which controllers communicate with each other and / or with robots. According to one embodiment of the present invention, a robot system comprises a robot arrangement with at least one robot, a robot controller for controlling this robot(s), and a communication master module, which are referred to herein, without restriction of generality, as the first robot arrangement, first robot, first robot controller, or first communication master module.

[0010] According to one embodiment of the present invention, the robot system comprises a component arrangement with

[0011] - at least one component that

[0012] - an actuator, in a further development at least one, preferably electromotive or hydraulic, drive and / or at least one actuator such as a valve, an electromagnet or the like; and / or

[0013] - a sensor system, in a further development comprising at least one sensor, in particular an optical sensor, acoustic sensor, electromagnetic sensor, mechanical sensor or the like, for example a touch, distance, force, torque sensor, a camera or the like; and

[0014] - a communication slave module, which are referred to here without restriction of generality as the first component(s) or first communication slave module.

[0015] According to one embodiment of the present invention,

[0016] - the first robot controller and the first communication master module for the transmission, preferably by cable, of data from the first robot controller to the first communication master module; and

[0017] - the first communication master module and the first communication slave module for wireless transmission of data, preferably data transmitted by the first robot controller and / or data based thereon, from the first communication master module to the first communication slave module; and

[0018] - the first communication slave module and the first component, in a further development two or more first components, of the first component arrangement for transmitting data, preferably data transmitted by the first communication master module and / or data based thereon, from the first communication slave module to the first component, in a further development to two or more of the first components, or are (correspondingly) transmitted according to an embodiment of the present invention.

[0019] Additionally or alternatively, according to an embodiment of the present invention

[0020] - the first component, in a further development two or more first components of the first component arrangement, and the first communication slave module for transmitting data from the first component, in a further development of two or more of the first components, to the first communication slave module; and

[0021] - the first communication master module and the first communication slave module are configured for the wireless transmission of data, preferably data transmitted by the first component(s) and / or data based thereon, from the first communication slave module to the first communication master module; and the first robot controller and the first communication master module are configured for the, preferably wired, transmission of data, preferably data transmitted by the first communication slave module and / or data based thereon, from the first communication master module to the first robot controller or are (correspondingly) transmitted according to an embodiment of the present invention.

[0022] The at least partially wireless transmission and the communication modules provided or set up for this purpose can advantageously relieve the load on networks or buses, in particular real-time capable and / or wired networks, via which controllers communicate with each other and / or with robots.

[0023] In one embodiment, the robot system has one or more further component arrangements, each with at least one further component, which has an actuator system, in a further development at least one, preferably electromotive or hydraulic, drive and / or at least one actuator such as a valve, an electromagnet or the like, and / or a sensor system, in a further development at least one sensor, in particular an optical sensor, acoustic sensor, electromagnetic sensor, mechanical sensor or the like, for example a touch, distance, force, torque sensor, a camera or the like, and (each) a further communication slave module.

[0024] In further training

[0025] - the first robot controller and the first communication master module for the transmission, preferably by cable, of data from the first robot controller to the first communication master module; and

[0026] - the first communication master module and the further communication slave module of the or one or more of the further component arrangement(s) for the wireless transmission of data, preferably data transmitted by the first robot controller and / or data based thereon, from the first communication master module to this further communication slave module; and

[0027] - this further communication slave module and the further component, in a further development two or more further components, of the (respective) further component arrangement for transmitting data, preferably data transmitted by the first communication master module and / or data based thereon, from the (respective) further communication slave module to the (respective) further component, in a further development to two or more of the further components of the respective further component arrangement, are set up or are transmitted (correspondingly) according to an embodiment of the present invention.

[0028] Additionally or alternatively, further training

[0029] - the further communication slave module and the further component, in a further development two or more further components, of the or one or more of the further component arrangement(s) in each case for transmitting data from the (respective) further component, in a further development of two or more of the (respective) further components, to the (respective) further communication slave module; and - the first communication master module and the (respective) further communication slave module for the wireless transmission of data, preferably from the orthe (respective) further component(s) transmitted data and / or data based thereon, from the (respective) further communication slave module to the first communication master module; and the first robot controller and the first communication master module are configured for, preferably by cable, transmission of data, preferably data transmitted by the (respective) further communication slave module and / or data based thereon, from the first communication master module to the first robot controller or are (correspondingly) transmitted according to an embodiment of the present invention.

[0030] At least partially wireless communication with two or more component arrangements (first component arrangement and one or more additional component arrangements) via the communication modules provided or configured for this purpose can advantageously reduce the load on networks or buses, particularly real-time capable and / or wired networks or buses, via which controllers communicate with each other and / or with robots. Additionally or alternatively, this advantageously allows additional components to be integrated or removed and / or positioned more efficiently with less effort and / or more quickly.

[0031] In one embodiment, the robot system comprises one or more additional robot assemblies each comprising at least one additional robot, an additional controller for controlling this additional robot, and an additional communication master module.

[0032] Additionally or alternatively, in one embodiment, the robot system comprises at least one higher-level control arrangement with a higher-level additional controller, for example a PLC or the like, and an additional communication master module.

[0033] In a further development of the design with at least one additional

[0034] Robot arrangement and / or at least one higher-level control arrangement, the robot system has one or more additional component arrangements, each with at least one additional component, which has an actuator system, in a further development at least one, preferably electromotive or hydraulic, drive and / or at least one actuator such as a valve, an electromagnet or the like, and / or a sensor system, in a further development at least one sensor, in particular an optical sensor, acoustic sensor, electromagnetic sensor, mechanical sensor or the like, for example a touch, distance, force, torque sensor, a camera or the like, and (each) an additional communication slave module.

[0035] In an embodiment of this further development with at least one additional robot arrangement,

[0036] - the additional controller and the additional communication master module of this additional robot arrangement for the transmission, preferably by cable, of data from this additional controller to this additional communication master module; and

[0037] - this additional communication master module and the additional communication slave module of the or one or more of the additional component arrangement(s) for the wireless transmission of data, preferably data transmitted by this additional controller and / or data based thereon, from this additional communication master module to this additional communication slave module; and

[0038] - this additional communication slave module and the additional component, in a further development two or more additional components, of the (respective) additional component arrangement for transmitting data, preferably data transmitted by the (respective) additional communication master module and / or data based thereon, from the (respective) additional communication slave module to the (respective) additional component, in a further development to two or more of the additional components of the respective additional component arrangement, are set up or are transmitted (correspondingly) according to an embodiment of the present invention. Additionally or alternatively, in an embodiment of this further development with at least one additional robot arrangement

[0039] - the additional communication slave module and the additional component, in a further development two or more additional components, of the or one or more of the additional component arrangement(s) respectively for transmitting data from the (respective) additional component, in a further development of two or more of the (respective) additional components, to the (respective) additional communication slave module; and

[0040] - the additional communication master module of this additional robot arrangement and the (respective) additional communication slave module for the wireless transmission of data, preferably data transmitted by the (respective) additional component(s) and / or data based thereon, from the (respective) additional communication slave module to this additional communication master module; and the additional controller and the additional communication master module of this additional robot arrangement for the, preferably wired, transmission of data, preferably data transmitted by the (respective) additional communication slave module and / or data based thereon, from this additional communication master module to the additional controller or are (correspondingly) transmitted according to an embodiment of the present invention.

[0041] Additionally or alternatively, in one embodiment of this further development with at least one higher-level control arrangement

[0042] - the higher-level additional control and the additional communication master module of this higher-level control arrangement for the transmission, preferably by cable, of data from this additional control to this additional communication master module; and

[0043] - this additional communication master module and the additional

[0044] Communication slave module of the or one or more of the additional component arrangement(s) for the wireless transmission of data, preferably data transmitted by this additional controller and / or data based thereon, from this additional communication master module to this additional communication slave module; and

[0045] - this additional communication slave module and the additional component, in a further development two or more additional components, of the (respective) additional component arrangement for transmitting data, preferably data transmitted by the (respective) additional communication master module and / or data based thereon, from the (respective) additional communication slave module to the (respective) additional component, in a further development to two or more of the additional components of the respective additional component arrangement, are set up or are transmitted (correspondingly) according to an embodiment of the present invention.

[0046] Additionally or alternatively, in one embodiment of this further development with at least one higher-level control arrangement

[0047] - the additional communication slave module and the additional component, in a further development two or more additional components, of the or one or more of the additional component arrangement(s) respectively for transmitting data from the (respective) additional component, in a further development of two or more of the (respective) additional components, to the (respective) additional communication slave module; and

[0048] - the additional communication master module of this higher-level control arrangement and the (respective) additional communication slave module for the wireless transmission of data, preferably data transmitted by the (respective) additional component(s) and / or data based thereon, from the (respective) additional communication slave module to this additional communication master module; and the higher-level additional controller and the additional communication master module of this higher-level control arrangement for the, preferably wired, transmission of data, preferably data transmitted by the (respective) additional communication slave module and / or data based thereon, from this additional communication master module to the additional controller or are (correspondingly) transmitted according to an embodiment of the present invention.

[0049] Additionally or alternatively, in a further development of the embodiment with at least one additional robot arrangement and / or at least one higher-level control arrangement, at least two of the communication master modules are configured for the wireless transmission of data from one of these communication master modules to the other of these communication master modules, in one embodiment also for the wireless transmission of data from the other of these communication master modules to one of these communication master modules, or are (correspondingly) transmitted according to an embodiment of the present invention, in particular:

[0050] - the first communication master module and the additional communication master module of one or more of the additional robot arrangement(s) for wireless transmission of data

[0051] - from the first communication master module to the (respective) additional communication master module and / or

[0052] - from the (respective) additional communication master module to the first communication master module; and / or

[0053] - the first communication master module and the additional communication master module of the at least one higher-level control arrangement for wireless transmission of data

[0054] - from the first communication master module to this additional communication master module and / or

[0055] - from this additional communication master module to the first communication master module; and / or

[0056] - the additional communication master module of the at least one higher-level control arrangement and the additional communication master module of the or one or more of the additional robot arrangement(s) for the wireless transmission of data

[0057] - from the additional communication master module of the higher-level control arrangement to the (respective) additional communication master module of the (respective) additional robot arrangement and / or from the (respective) additional communication master module of the (respective) additional robot arrangement to the additional communication master module of the higher-level control arrangement.

[0058] The at least partially wireless communication between components and a higher-level controller (arrangement), between components and an additional (controller of an additional) robot arrangement, between a higher-level controller (arrangement) and one or more of the robot arrangements, and / or between two or more of the robot arrangements via the communication modules provided or configured for this purpose (respectively) advantageously reduces the load on networks or buses, particularly real-time capable and / or wired networks or buses, via which controllers communicate with each other and / or with robots. Additionally or alternatively, this advantageously allows additional components to be integrated or removed and / or positioned more quickly and with less effort.An embodiment may be particularly advantageous in which the higher-level additional controller of the higher-level control arrangement transmits data to the communication master module of the first or one of the additional robot arrangements via its additional communication master module, and this then transmits this data and / or data based thereon to the corresponding communication slave module(s), and / or one or more of the communication slave modules transmits data to the communication master module of the first or one of the additional robot arrangements, and this then transmits this data and / or data based thereon to the additional communication master module of the higher-level control arrangement, or the robot system is set up for this purpose.

[0059] In one embodiment, the first robot controller and the first communication master module are connected by cable. Additionally or alternatively, in one embodiment, the additional controller and the additional communication master module of one or more of the additional robot arrangements are each connected by cable. Additionally or alternatively, in one embodiment, the additional controller and the additional communication master module of the higher-level control arrangement are connected by cable. This two-stage communication, wired between the (robot) controller and the communication master module and wireless between the communication master module and the communication slave module, particularly advantageously allows participants to communicate more quickly and / or more reliably and still be able to use networks or, in particular, real-time capable and / or wired networks.Buses can be relieved even better, via the controllers communicate with robots, and / or participants can be integrated or removed with less effort and / or more quickly and / or better positioned.

[0060] In particular, to (further) increase reliability, the data between two or more of the aforementioned communication modules is transmitted in an encrypted manner or the communication modules are configured for this purpose.

[0061] A wireless transmission of data, in a version of the data

[0062] - from the first communication master module to the first

[0063] Communication slave module and / or from the first communication slave module to the first communication master module; and / or

[0064] - from the first communication master module to the further communication slave module of the or one or more of the further component arrangement(s) and / or from the further communication slave module of the or one or more of the further component arrangement(s) to the first communication master module; and / or

[0065] - from the additional communication master module of the or one or more of the additional robot arrangement(s) to the additional communication slave module of the or one or more of the additional component arrangement(s) and / or from the additional communication slave module of the or one or more of the additional component arrangement(s) to the additional communication master module of the or one or more of the additional robot arrangement(s); and / or

[0066] - from the additional communication master module of the at least one higher-level control arrangement to the additional communication slave module of the or one or more of the additional component arrangement(s) and / or from the additional communication slave module of the or one or more of the additional component arrangement(s) to the additional communication master module of the at least one higher-level control arrangement; and / or

[0067] - from the first communication master module to the additional

[0068] Communication master module of the one or more of the additional robot arrangement(s) and / or from the additional communication master module of the one or more of the additional robot arrangement(s) to the first communication master module; and / or

[0069] - from the first communication master module to the additional communication master module of the at least one higher-level control arrangement and / or from the additional communication master module of the at least one higher-level control arrangement to the first communication master module; and / or

[0070] - from the additional communication master module of the at least one higher-level control arrangement to the additional communication master module of the or one or more of the additional robot arrangement(s) and / or from the additional communication master module of the or one or more of the additional robot arrangement(s) to the additional communication master module of the at least one higher-level control arrangement takes place in one embodiment via radio, preferably a local radio network, in one embodiment WLAN. This is particularly advantageous for communication and / or integration. In the present case, “wireless” means in particular wireless or

[0071] “wireless” is understood.

[0072] In one embodiment, the first robot controller and the first robot are connected by cable and / or are set up to transmit real-time relevant or real-time critical data (to one another), or real-time relevant or real-time critical data is transmitted from the first robot controller to the first robot and / or from the first robot to the first robot controller during or for operating the robot system. Additionally or alternatively, in one embodiment, the additional robot and the additional controller of one or more of the additional robot arrangements are each connected by cable and / or are set up to transmit real-time relevant or real-time critical data (to one another), or real-time relevant or real-time critical data is transmitted during or for operating the robot system.real-time critical data is transmitted from the additional controller of the (respective) additional robot arrangement to the (respective) additional robot of this additional robot arrangement and / or from this additional robot to this additional controller.

[0073] Additionally or alternatively, in one version

[0074] - the first robot controller and the additional controller of the one or more of the additional robot arrangement(s) respectively; and / or

[0075] - the first robot controller and the higher-level additional controller of the higher-level control arrangement; and / or

[0076] - the higher-level additional control of the higher-level control arrangement and the additional control of one or more of the additional robot arrangement(s) are connected by cable and / or are set up to transmit real-time relevant or real-time critical data (together) or real-time relevant or real-time critical data are transmitted during or for the operation of the robot system

[0077] - from the first robot controller to the additional controller of the one or more of the additional robot arrangement(s); and / or from the additional controller of the one or more of the additional robot arrangement(s) to the first robot controller; and / or

[0078] - from the first robot controller to the higher-level additional controller of the higher-level control arrangement and / or from the additional higher-level controller of the higher-level control arrangement to the first robot controller; and / or

[0079] - from the additional controller of the or one or more of the additional robot arrangement(s) to the higher-level additional controller of the higher-level control arrangement and / or from the additional higher-level controller of the higher-level control arrangement to the additional controller of the or one or more of the additional robot arrangement(s).

[0080] The idea behind this is to divide data that a robot or higher-level controller sends and / or data that a robot or higher-level controller receives into real-time relevant or real-time critical data, which are advantageously transmitted via cable, and non-real-time relevant or non-real-time critical data for or from components, which are transmitted wirelessly at least between the corresponding communication modules.

[0081] In one embodiment, one or more of the named components, in a further development the first component and / or the or one or more of the further component(s) and / or the or one or more of the additional component(s) are each arranged on one of the named robots, in a further development the first robot or the or one of the additional robots. Such robot-side or fixed components can be integrated particularly advantageously through wireless data transmission. Additionally or alternatively, in one embodiment, one or more (other) of the named components, in a further development the first component (if not arranged on the robot side) and / or the or one or more of the further and / or additional component(s) (then not arranged on the robot side) are each arranged in an environment of the first and optionally the additional robot(s) or are not arranged on the robot side or fixed to the robot.Such ambient or non-robot-mounted components can be positioned particularly advantageously through wireless data transmission. In one embodiment, one or more of the aforementioned components, in a further development, the first component and / or the one or more of the additional components each comprise a preferably robot-guided tool, for example, a gripper or the like, and can in particular be a preferably robot-guided tool.

[0082] According to one embodiment of the present invention, as already explained, during or for operating a robot system described here, data is transmitted wirelessly from at least one communication master module to at least one communication slave module and / or from at least one communication slave module to at least one communication master module. In a further development, data is transmitted, preferably via cable, from at least one (robot) controller to at least one communication master module and / or from at least one communication master module to at least one (robot) controller and / or data is transmitted from at least one component to at least one communication slave module and / or from at least one communication slave module to at least one component.As already explained, one aspect of the present invention is based on the idea of ​​implementing the communication of a robot system at least partially wirelessly, thereby reducing the load on preferably real-time-capable and wired networks or buses via which controllers communicate with each other and / or with robots. Accordingly, in one embodiment, data transmitted wirelessly from at least one communication master module to at least one communication slave module and / or from at least one communication slave module to at least one communication master module comprises acyclic and / or non-real-time relevant or non-real-time critical data, and can in particular be acyclic and / or non-real-time relevant or non-real-time critical data.

[0083] A module within the meaning of the present invention can be designed in hardware and / or software, in particular at least one transmitting and / or receiving device and / or at least one, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, which is preferably data- or signal-connected to a memory and / or bus system, and / or one or more programs or program modules. In one embodiment, a computer program product can have, in particular be, a storage medium, in particular a computer-readable and / or non-volatile storage medium for storing a program or instructions or with a program or instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of several computers, causes the system orthe controller, in particular the computer(s), is designed to carry out a method described here or one or more of its steps, or the program or instructions are designed to do so.

[0084] In one embodiment, one or more, in particular all, steps of the method are fully or partially computer-implemented or one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the system. One or more of the robots mentioned here, in particular the first robot and / or the additional robot, have a mobile base in one embodiment, a chassis in a further development, and / or a robot arm, in a further development with at least three, in particular at least six, in one embodiment at least seven, joints or (movement) axes. With such robots, the relief of the control communication and the wireless data transmission from or to components with sensors or actuators is particularly advantageous.

[0085] In one embodiment, two or more components are assigned to one or more of the communication slave modules mentioned here, in particular the first communication slave module and / or the further communication slave module and / or the additional communication slave module, wherein the corresponding communication slave module then transmits data to one or more of the components assigned to it in the manner described here and / or data is transmitted from one or more of the components assigned to it to the communication slave module, or these are configured to do so.

[0086] Further advantages and features emerge from the subclaims and the exemplary embodiments. The sole drawing shows, partially schematically:

[0087] Fig. 1 : a robot system according to an embodiment of the present invention.

[0088] Fig. 1 shows a robot system according to an embodiment of the present invention, which comprises a first robot arrangement with a first robot 1, a first robot controller 10 connected to it by cable for controlling this first robot while exchanging real-time relevant or real-time critical data and a first communication master module 11, an additional robot arrangement 2 with an additional robot 2, an additional (robot) controller 20 connected to it by cable for controlling this additional robot 2 while exchanging real-time relevant or real-time critical data and an additional communication master module 21 as well as a higher-level control arrangement with a higher-level additional controller 30 and a (further) additional communication master module 31.The robot system has a first component arrangement with a first component arranged on the first robot 1 in the form of a gripper 110, which has an actuator, and a first communication slave module 111 and a further component arrangement with a further component arranged on the first robot 1 in the form of a distance sensor 120 and a further communication slave module 121.

[0089] In addition, the robot system has two additional component arrangements, one additional component arrangement with an additional component arranged on the additional robot 2 in the form of a distance sensor 210 and an additional communication slave module 211, and another additional component arrangement with an additional component arranged on an environment of the first robot 1 and additional robot 2 in the form of a distance sensor 220 and an additional communication slave module 221 assigned to it.

[0090] To operate the robot system, the robot controller 10 and the robot 1 transmit real-time relevant or real-time critical data to each other via a cable, and the robot controller 20 and the robot 2 transmit real-time relevant or real-time critical data to each other via a cable. In addition, the higher-level additional controller 30, on the one hand, and the robot controller 10 and / or the robot controller 20, on the other hand, can also transmit real-time relevant or real-time critical data to each other via a cable.

[0091] In parallel, the first robot controller 10 transmits acyclic and / or non-real-time relevant or non-real-time critical data to the first communication master module 11, the first communication master module 11 transmits these data and / or data based thereon in encrypted form wirelessly to the first communication slave module 111, as indicated in Fig. 1 by a dash-dotted signal arrow, and the first communication slave module 111 transmits these data and / or data based thereon to the first component 110.

[0092] In addition, the first robot controller 10 and the further component

[0093] 120 in the same way data to each other about the first

[0094] Communication master module 11 and the further communication slave module 121 transmit encrypted data to each other wirelessly as indicated in Fig. 1 by a dash-dotted signal arrow.

[0095] In addition, the additional robot controller 20 and the additional components 210 and 220 transmit data to each other in the same way via the additional communication master module 21 and the additional communication slave module 211 and 221, respectively, which transmit data to each other in encrypted form wirelessly as indicated in Fig. 1 by a dash-dotted signal arrow.

[0096] In addition, the first robot controller 10, the additional robot controller 20 and the higher-level additional controller 30 transmit data to each other via the additional communication master module 11, 21 and 31, respectively, which transmits the data to each other in an encrypted, wireless manner as indicated in Fig. 1 by a dash-dotted signal arrow.

[0097] In the present disclosure, "has an X" generally does not imply an exhaustive list, but is a shortened form of "has at least one X" and also includes "has two or more Xs" and "has Y in addition to X." Although exemplary embodiments have been explained in the foregoing description, it should be noted that numerous modifications are possible. Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope, applications, or construction in any way.Rather, the foregoing description provides the skilled person with a guide for implementing at least one exemplary embodiment, whereby various modifications, particularly with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as defined by the claims and equivalent combinations of features. List of reference symbols.

[0098] 1 first robot

[0099] 10 first robot control

[0100] 11 first communication master module

[0101] 2 additional robots

[0102] 20 additional (robot) controls

[0103] 21 additional communication master module

[0104] 30 higher-level additional control

[0105] 31 additional communication master module

[0106] 110 first component

[0107] 111 first communication slave module

[0108] 120 additional components

[0109] 121 additional communication slave module

[0110] 210 additional component

[0111] 211 additional communication slave module

[0112] 220 additional components

[0113] 221 additional communication slave module

Claims

Patent claims 1. A robot system, comprising: a first robot arrangement with at least one first robot (1); a first robot controller (10) for controlling this first robot; and a first communication master module (11); a first component arrangement with at least one first component (110) having an actuator and / or a sensor system; and a first communication slave module (111); wherein the first robot controller and the first communication master module are configured to transmit data from the first robot controller to the first communication master module, and the first communication master module and the first communication slave module are configured to wirelessly transmit data from the first communication master module to the first communication slave module, and the first communication slave module and the first component are configured to transmit data from the first communication slave module to the first component;and / or the first component and the first communication slave module are configured to transmit data from the first component to the first communication slave module, and the first communication master module and the first communication slave module are configured to wirelessly transmit data from the first communication slave module to the first communication master module, and the first robot controller and the first communication master module are configured to transmit data from the first communication master module to the first robot controller; 2. Robot system according to claim 1, comprising: at least one further component arrangement with at least one further component (120) which comprises an actuator and / or a Sensor system; and a further communication slave module (121); wherein the first robot controller and the first communication master module are configured to transmit data from the first robot controller to the first communication master module and the first communication master module and the further Communication slave module of this further component arrangement for wireless transmission of data from the first communication master module to this further communication slave module and this further communication slave module and this further component of this further component arrangement for transmission of data from this further communication slave module to this further component; and / or this further component and this further communication slave module of this further component arrangement for transmission of data from this further component to this further communication slave module and the first communication master module and this further Communication slave module for wireless transmission of data from this further communication slave module to the first communication master module and the first robot controller and the first communication master module for transmission of data from the first communication master module to the first Robot control is set up.

3. Robot system according to one of the preceding claims, comprising: at least one additional robot arrangement with at least one additional robot (2); an additional controller (20) for controlling this additional robot; and an additional communication master module (21); and / or at least one higher-level control arrangement with a higher-level additional controller (30) and an additional communication master module (31).

4. Robot system according to the preceding claim, comprising: at least one additional component arrangement with at least one additional component (210; 220) which has an actuator and / or a sensor system; and an additional communication slave module (211; 221); wherein the additional controller and the additional communication master module of the additional robot arrangement and / or the control arrangement are configured to transmit data from this additional controller to this additional communication master module and this additional communication master module and the additional Communication slave module of this additional component arrangement for wireless transmission of data from this additional communication master module to this additional communication slave module and this additional communication slave module and the additional component of this additional component arrangement for transmission of data from this additional communication slave module to this additional Component; and / or the additional controller and the additional communication master module of the additional robot arrangement and / or the control arrangement for transmitting data from this additional Communication master module to this additional controller and this additional communication master module and this additional communication slave module for wireless transmission of data from this additional communication slave module to this additional communication master module and the additional component and the additional communication slave module of this additional component arrangement for transmission of data from this additional component to this additional communication slave module.

5. Robot system according to one of the two preceding claims, wherein at least two of the communication master modules are configured for wireless transmission of data from one of these communication master modules to the other of these communication master modules, in particular also for wireless transmission of data from the other of these communication master modules to one of these communication master modules.

6. Robot system according to one of the preceding claims, characterized in that the first robot controller and the first communication master module are connected by cable and / or the additional controller and the additional communication master module of the additional robot arrangement and / or the control arrangement are connected by cable and / or that the first robot controller and the first robot are connected by cable and / or are set up to transmit real-time relevant data and / or the additional robot and the additional controller of the additional robot arrangement are connected by cable and / or are set up to transmit real-time relevant data and / or at least two of the first robot controller and the additional controller of the additional robot arrangement and the additional higher-level controller of the higher-level control arrangement are connected by cable and / or are set up to transmit real-time relevant data.

7. Robot system according to one of the preceding claims, characterized in that at least two of the communication modules are configured for encrypted data transmission.

8. Robot system according to one of the preceding claims, characterized in that the first and / or further and / or additional component is arranged on the first or additional robot or an environment of the first and optionally additional robot.

9. A method for operating a robot system according to one of the preceding claims, characterized in that data is transmitted wirelessly from at least one communication master module to at least one communication slave module and / or from at least one communication slave module to at least one communication master module.

10. Method according to the preceding claim, characterized in that the data comprise acyclic and / or non-real-time relevant data.

11. A computer program or computer program product, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which, when executed by a system according to one of claims 1 to 8, cause the system to carry out a method according to one of claims 9 to 10.

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