Disclosed is a double-station printing device for printing a steel grade on rims, comprising a first station driving cylinder, a second station driving cylinder, a second moving platform, sensor supports, visual sensors, support frames, lifting cylinders, guide posts, lifting platforms, steel grade printers and the like. In the working process of the device, a wheel inlet roller bed continuously feeds wheels, and a first station and a second station alternatively receive the wheels, thereby avoiding long-time waiting of the wheels on the wheel inlet roller bed.