Problems with Z-axis: Z-axis raised not enough at the beginning
Here are my problem and my solution. Hope this will help others.

As @R.. suggested, I checked my carriages and as well as z-axis guide wheels(I think it is called guide wheel). And I found that the guide wheels were too tight. I can't rotate them will my fingers. So I used a spanner to adjust the eccentric nuts until the guide wheels can be rotated by two fingers. Do not make the guide wheels too loose, it may cause shaking or other problem.

Since I don't know the exact name of each part. I marked them in the pics. If you know the correct name of the parts, welcome to correct me, I will edit it in my post.

Special thanks to R.. :P

Here are the pics: