This reminds me a scene of the wonderful AniMatrix clips. Here is what I recalled (may not be exactly accurate): Escaped robots established their own country in remote area and started to export products for natural resources. Since robots never need a salary and can keep producing goods 24/7, human beings cannot compete and all countries ran into deficits and their societies collapsed. In the end, all countries blockaded the Robot country and the war started, then the rest is history.

Solution: most of the revenue generated by robots should go to welfare benefits

How do you do that when countries have to compete by offering attractive tax-rates and terms for businesses and business owners/investors?

I like the idea, but it gets tricky, what if the robots are in a different country?

Tax the goods at the border.

I think the solution is quite simple. Everyone should own some robots. Either through financial assets or they posses them directly.