The invention provides an endless limiting rope twisting device. The endless limiting rope twisting device comprises a first side plate, a second side plate, a pulley, a connecting shaft, a small gear shaft, a small gear, a pawl device, a positioning locking pin and a brake pin, wherein the pulley is arranged between the first side plate and the second side plate and can rotate relative to the first side plate and the second side plate. A variable-speed inner tooth cavity is formed in one of the surfaces of the pulley, and multiple tooth portions are arranged on the circumference of the variable-speed inner tooth cavity. The connecting shaft is used for connecting the first side plate with the second side plate and the pulley together. The small gear shaft is arranged on the first side plate. One end of the positioning lock pin is arranged on the inner surface of the second side plate, and the other end of the positioning locking pin is combined with a lock pin gap in one of the ends of the first side plate. The brake pin is arranged on the inner surface of the second side plate. Compared with a hoisting device composed of multiple pulleys and adopted in the prior art, the endless limiting rope twisting device has the beneficial effects that the manpower is saved, the length of a required rope is shorter, the structure is simple, and the safety coefficient is high.