The invention relates to the field of engineering explosion, in particular to an on-site mixed loading emulsion explosive filling device. The device comprises an emulsification substrate storage container and a filling control system; the system comprises more than one sensitizing solution storage container, a cleaning water storage container and more than two sets of filling equipment; each filling equipment comprises a dynamic system, a sensitizing solution pump, a substrate pump, a substrate filter and a water ring filler; the feed opening of the substrate filter is connected with the emulsification substrate storage container; the discharge opening of the substrate pump is connected with the substrate filter and the water ring filler; the feed opening of the sensitizing solution pump is connected with the sensitizing solution storage container; the discharge opening of the sensitizing solution pump is connected with the water ring filler through pipes; the cleaning water storage container is connected with the substrate pump of each filling device through pipes. The filling device provided by the invention has the advantages of fast filling, efficient filling and high reliability and security.