Emulsion explosive charging machine

The utility model provides an emulsion explosive charging machine. The emulsion explosive charging machine comprises a frame, an automatic hole alignment system, a pipe feeding and withdrawing system and a material transmission and sensitization system, wherein the automatic hole alignment system comprises a camera, a large remote control arm and a remote control operating platform; the pipe feeding and withdrawing system comprises a pipe coiling machine, a pipe discharging machine and a pipe feeding device, the axis of the pipe coiling machine is provided with a rotating joint, and the rotating joint is composed of a fixed joint and a flexible joint; the flexible joint is connected with an outlet of a material transmission pump, the fixed joint is connected with an explosive conveying hose, and the rotating joint has an annular channel structure, so that a sensitizing agent and a sensitization accelerant are isolated by an emulsion matrix and are conveyed in a same stream tube layering manner; a storage material in a material storing tank is pumped through the material transmission pump so as to be conveyed to a cannon hole through the rotating joint, the explosive conveying hose and a pipe-type mixer arranged at the tail end of the explosive conveying hose. The charging machine adopts hydraulic pressure four-wheel drive, the long-range control on the automatic hole alignment, feeding and withdrawing of the explosive conveying hose, and charging and charging parameters of the cannon hole are realized through the remote control operating platform, the degree of automation of the whole machine is high, an explosive is sensitized in the cannon hole, and inherent safety is high.