The invention provides a jointed board passing device of a walking incremental launching system. The jointed board passing device of the walking incremental launching system comprises an incremental launching device and a lifting device. The lifting device is supported on a sliding box. The upper portion of a jacking jack is connected with a spherical plate to form a spherical concave-convex groove connecting structure or an arc-surface concave-convex groove connecting structure. The upper portion of the spherical plate is connected with a comb plate. The top portion of the comb plate is provided with a groove in the moving direction of a component. The groove is wider than a protrusion in the bottom of the component. The jointed board passing device of the walking incremental launching system has the advantages that temporary reinforcing of the component is not needed, no steel strand needs to be adopted, and equipment can operate till construction is completed after being installed at a time; a vertical lifting jack is provided with a ball head device, centering is automatic, damage to the bottom of a box girder and lateral stress of the jack is avoided, and meanwhile a bridge pier does not bear a horizontal load during incremental launching, so that the component and the bridge pier are prevented from being damaged, and the safety of the component is guaranteed in the incremental launching process; and the defect that according to a conventional pulling way, only advancing can be achieved, and retreating cannot be achieved is overcome, and incremental launching construction can still be conducted at a component junction or under other conditions.