I spent a whole night and finsihed. The model glued again. Only 7 of 17 joints can move. Maybe the printing parameter was not good enough. My printing parameter was: layer is 0.2, nozzle temperature 205, bed temperature 70, speed 40. I will try 0.15 layer again.
by the way, I put the model into boiling water. The model became soft and I detached it to many parts. I found some layers were cling together.
Maybe someone can change the joint as this : https://www.thingiverse.com/thing:2818955 or https://www.thingiverse.com/thing:2810756.