Puncturing mud robot is a kind of trenchless device that can walk by itself in the earth. There are abroad appliance foreground and developing value as it can mainly pave PE pipe,PVC pipe,cable and optical fiber cable under the mud. Through researching on impacting construction of steerable air-powered impact mole in trenchless technology at home and abroad, the driving device of puncturing mud robot was designed. The device machinery character and work principle is recounted and device three-dimensional model was established and device virtual assembly was finished. The parameter equation of driving device was educed and effect from main parameter to output capability was analyzed. Based on analysis result, testing of impacting capability about driving device was put up and the academic result of the impacting capability was validated. The testing result indicates also that this driving device can meet puncturing power need. This paper can provides reference for collectivity design of puncturing mud robot.