OPC UA PubSub Over TSN is the core of the Industrial Internet and guarantees flexible interaction features for multiple parties in real-time for industrial communication. To achieve the transmission of time-triggered traffic in PubSub NetworkMessage, routing and scheduling data need to be analyzed. Traditional routing and scheduling methods have disadvantages such as low calculation efficiency, slow convergence speed, and poor reliability. Therefore, a routing and scheduling method for OPC UA PubSub NetworkMessage time-triggered traffic based on an improved ant colony algorithm is proposed. First, we analyze the network topology model, traffic model, and traffic transmission constraints of TSN; then, we apply the K-means clustering algorithm, the KSP algorithm based on the shortest path idea, and an improved ant colony algorithm for traffic classification, routing, and scheduling calculation. Experimental results show that this method can effectively reduce the delay increase caused by link congestion, improve the ability to schedule time-triggered traffic, and accelerate the convergence rate of iteration.