Is it possible to use 24 hours free transit visa to visit Zhuhai?

You can get a 3-day visa in arrival at a land border with Macau.

Thank you for your answer. How much does it cost for Polish citizen and what is the exact name of this kind of VOA?

Not sure how much it is for Polish but it's usually 168 CNY. The visa is called Zhuhai SEZ (special economic zone) visa and can be acquired at Gongbei port of entry. Not sure if they take credit cards though so better have CNY cash in hand. You can check out the "Visa on arrival" section.