The invention relates to a pneumatic waste grabbing device used for machining for a specially-shaped polyurethane foam board. The pneumatic waste grabbing device used for machining for the specially-shaped polyurethane foam board comprises a connection frame and a pair of working units arranged on the connection frame in parallel, wherein each working unit comprises a pneumatic hooking mechanism arranged at one end of the connection frame and a pneumatic clamping jaw mechanism arranged at the other end of the connection frame. Compared with the prior art, according to the pneumatic waste grabbing device used for machining for the specially-shaped polyurethane foam board, the manner of combining hooking with grabbing is adopted, grabbing for many residual waste in a machining process for the polyurethane foam board is realized, and grabbing for upper-skin waste, lower-skin waste and side waste of the polyurethane foam board can be realized through one grabbing device; and the mechanicalstructure is simple and compact, the working efficiency is increased, and the production cost is lowered.