Bolts are the key to the stable connection of high-altitude equipment, but they are prone to abnormalities such as loosening under the influence of various factors, threatening the safety of the equipment. Currently, bolt detection methods based on deep learning are faced with the problems of class imbalance and label missing. Existing deep-learning-based bolt detection methods suffer from class imbalance and missing labels. A HDWL(historical dynamic weighted loss) model based on semi-supervised pseudo-label learning was proposed. By dynamic weighted orthogonality and class-adaptive fair punishment, the model classification was evaluated with historical data. Adaptive punishment was introduced to prevent overfitting and focus more on hard-to-classify samples, boosting model performance. Experiments showed that the HDWL model achieved significantly higher accuracy than other methods, with advantages in minority-class training and feature focus.