A braille printing device includes a device body; a linear actuator with an actuator body and an actuator hammer; a liquid ejection unit, including a liquid container a resin piston, and a dispensing tube; a slidable connector with a groove; a vertical stop; a trigger switch; a slide stop member; a slide holder plate including a slide holder back portion, a slide stop member, and first and second sliding rails; and a control unit, such that the braille printing device deposits spherical domes of printing fluid on a printing substrate to form a braille text.