With the coming of Industry4.0, concepts such as intelligent factories and intelligent manufacturing have been proposed, manufacturing has become more automated and intelligent. Industrial robot as one of the most important labor in the intelligent factories. Therefore, robot standard communication and robots semantic interoperability become the first problems to be solved. In order to solve these problems, Robot Information Model was proposed. In order to let all robots expose different semantics from different hierarchies and can interconnect each other, Robot Information Model is uniformly modeled using OPC UA standard, and can be accessed by any device with OPC UA client in it. Robots can form a network of full mesh nodes. The Robot Information Model based on OPC UA is great significance for Industry4.0.