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With the Industrial Internet of Things (IIoT) continuing to expand, lots of data collection, exchange, and authentication generated from an increasing number of access devices is required with heterogeneity, multidimension, and multiobjective networks as its characteristics. However, traditional IIoT systems are vulnerable to security challenges, such as data leakage, theft, and tampering. As one of the most promising solutions, blockchain has played an essential role in ensuring security and transparency in the IIoT. But there are still some challenges that prevent the secure and effective implementation of blockchain-based IIoT systems in consensus security, consensus efficiency, and consensus application. To address these problems, we propose an effective security blockchain consensus algorithm for heterogeneous IIoT nodes aiming to defend against the consensus attack and improve consensus efficiency. First, we design a blockchain-based IIoT system architecture. Then, we present an identity authentication and transformation protocol to defend against consensus attacks. Furthermore, we introduce a method for constructing communication directed acyclic graphs (DAGs) and transaction set DAGs to enhance transaction throughput. Based on these two DAGs, we propose an efficient and security consensus algorithm (DAG-D). DAG-D employs transaction sets instead of single transactions or blocks, leveraging communication DAG propagation to swiftly confirm transaction set DAGs based on parent transactions for associated confirmation. Experimental results show that our proposed DAG-D outperforms DAG-M, DAG-Avalanche, and DAG-CoDAG, regarding transaction throughput, transaction latency, and communication overhead.