The utility model relates to the engineering blasting field, and particularly discloses an on-site automatic emulsion explosive mixed loading truck for an underground mine. The on-site automatic emulsion explosive mixed loading truck comprises a truck main body having a truck chassis, an explosive loading system and an automatic aligning mechanism, wherein the explosive loading system and the automatic aligning mechanism are arranged on the truck chassis; the automatic aligning mechanism comprises a horizontal rotation mechanism, a support arm, a first mechanical arm, a second mechanical arm, a multistage telescoping cylinder, a mechanical hand, and a control and execution mechanism; the horizontal rotation mechanism is arranged on the truck chassis; the bottom end of the support arm is connected with the horizontal rotation mechanism; the top end of the support arm is orderly connected with the first mechanical arm, the second mechanical arm, the multistage telescoping cylinder, and the mechanical hand; and the control and execution mechanism is also connected with the mechanical hand for fine adjustment of the mechanical hand position. Through the on-site automatic emulsion explosive mixed loading truck for an underground mine, the mechanical hand can be sent to a place close to the porthole of the blast hole, fine adjustment of the mechanical hand position is realized through the control and execution mechanism, therefore the medicine delivery flexible pipe clamped through the mechanical hand is aligned with the blast hole, and then the medicine delivery flexible pipe is placed into the blast hole through an automatic pipe delivering mechanism.