Is there any machine to remove the solder on the PCB board?

The simplest is de-soldering braid or solder wick, a copper braid that you can palce on solder, and heat up manually with a soldering iron. The solder flows into the braid due to capilliary action. Extra flux helps keep the surface tension of the solder low. Braid is low-cost, and very useful for removing excess solder. Once the braid sucks up the solder, you'd then cut off and discard that it of braid. 

Next is the manual solder sucker. People tend to have a love-hate relationship with this tool. It's often anonying, but necessary to use. If you ever hang around an electronics lab where people are doing soldering and listen carefully, you will hear the gentle pucker of these tools going off everywhere, accompanied by profuse swearing.

If you go one step up, you'll find the combo solder-sucker/soldering iron. It's as you'd expect: since you always need to heat solder before sucking it up, a single tool frees up on of your limited number of hands. Comes in either plunger or bulb type:

 Finally, there's the electrical version of the tool, which uses fan or an external vacuum pump to provide continuous sucking without the need to reload a manual sucker. This is useful where delicate or extensive work is needed, and the kick from a manual action may be disruptive. Also available in pistol-grip.The futuristic-looking tool at the start of my answer is one striking example of this tool.

The above examples are for precision rework. If you want to indiscriminantly remove soldered components from a board, you have two options: Heat gun or hot air rework station. Blast the sucker until everything falls off.

Solder pot. It's not originally designed for removing solder, but you can use it to clear components, and in some cases solder off parts.

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