This paper proposes a novel hammer-driven type robot(HDR) for science-oriented investigations such as chemical composition, geothermal gradient, mechanical properties of regolith on the planetary subsurface. The HDR penetrating itself smoothly into the planetary regolith mainly depends on two aspects: one is the powerful energy storage ability and the other is the perfect energy delivery efficiency. In this paper, firstly, the energy distribution in HDR working process is discussed, and a separating design of the shell is proposed to improve the energy delivery efficiency. Secondly, the powerful energy storage mechanism is elaborately designed to achieve the perfect penetrating performance. Finally, the prototype of HDR is built and experiments are conducted on the testbed to validate its feasibility. Among those experiments, the HDR successfully penetrating itself into a maximum depth of 806mm in the simulant regolith(CUG-1A, relative compaction 49%), and demonstrate that it is feasible for HDR to make the borehole and carry out the planetary subsurface investigations.