Pneumatic-drive variable-rigidity omnidirectional bending driving device

The invention relates to a pneumatic-drive variable-rigidity omnidirectional bending driving device. The driving device comprises a columnar body and a first separation layer, wherein the interior of the columnar body is of a cavity structure; one end of the columnar body is open, and the other end of the columnar body is sealed; the first separation layer comprises at least three pages, and each page comprises a first end and a second end; the first ends of all the pages are intersected and fixedly connected, the second ends of all the pages are connected to the inner wall of the cavity structure, and the cavity structure of the columnar body is separated into at least three independent first chambers by the at least three pages of the first separation layer; each first chamber comprises an independent first sub-chamber and an independent second sub-chamber; and the first sub-chambers and the second sub-chambers communicate with the outside through air inlets, and the columnar body is inflated through the ai