For the energy constraint problems in traditional battery-powered systems, a data routing strategy and wireless charging algorithm for large-scale WRSNs is proposed. Based on the the industrial wireless identification and sensing platform, considering the influence of the routing protocols and the characteristics of wireless charger, a dynamic wireless charging algorithm based on hexagon path, namely improved joint routing and charging algorithm based on hexagon path(IJRC_HP), is proposed by taking advantage of the strong coverage of equilateral triangle. The IJRC_HP algorithm contains two parts: a data routing strategy is designed in accordance with the characteristics of a wireless charger to make the nodes with high energy receiving power take more communication tasks; more charging time is allocated for the nodes with more energy consumption according to the characteristics of the routing strategy. Comparing with the TRIANGLE algorithm and GRID algorithm, simulation results demonstrate that the proposed IJRC_HP algorithm has a better performance in terms of network lifetime, energy balance, moving efficiency of wireless charger and average charging latency.