Grabbing mechanism

1. A system for grabbing an object including a pull stud, the system comprising:

a grabbing mechanism including:

a piston chamber having a piston configured to move within the piston chamber when the piston chamber is pressurized;

a collet attached to the piston such that the collet and piston move together when the piston moves, the collet including a groove;

a ball cage including a plurality of balls arranged at least partially within respective ball chambers of the ball cage, the ball cage being arranged at least partially within the collet such that movement of the piston and collet causes the groove to align with the respective ball chambers, wherein the plurality of balls are configured to move into and out of the groove and to lock the pull stud within the grabbing mechanism; and

a plunger body; and

a sensor configured to send a signal indicating a location of the plunger body.

2. The system of claim 1 , wherein the grabbing mechanism further includes a spring configured to bias the piston in a first direction such that pressurization of the piston chamber causes the piston to overcome a force of the spring on the piston.

3. The system of claim 2 , wherein the spring is arranged around a portion of the ball cage such that the portion of the ball cage is within the spring.

4. The system of claim 1 , wherein the sensor is a magnetic reed sensor.

5. The system of claim 1 , wherein the grabbing mechanism further includes an ejection cylinder including an ejection chamber, wherein the plunger body is arranged within the ejection chamber and the sensor is arranged adjacent to the ejection cylinder.

6. The system of claim 1 , further comprising a computing device, wherein the sensor is configured to send the signal to the computing device, and wherein the computing device is configured to determine a position of the plunger body.

7. The system of claim 6 , wherein in response to receiving the signal, the computing device is configured to cause the piston chamber to be pressurized.

8. The system of claim 1 , further comprising a lifting mechanism including a crane.

9. The system of claim 1 , wherein the grabbing mechanism further includes an ejector pin configured to eject the pull stud from the grabbing mechanism.

10. The system of claim 9 , wherein the grabbing mechanism further includes a plunger including the plunger body and a plunger pin, the plunger pin being configured to mate with a depression in the ejector pin such that a force on the plunger body causes the plunger pin to force the ejector pin to move within the ball cage and to eject the pull stud from the grabbing mechanism.

11. The system of claim 10 , wherein the grabbing mechanism further includes an ejection cylinder, wherein the plunger body is arranged within the ejection cylinder, such that pressurization of the ejection cylinder causes the force on the plunger body.

12. The system of claim 11 , further comprising an air source configured to pressurize the ejection cylinder.

13. The system of claim 1 , further comprising an air source configured to pressurize the piston chamber.

14. The system of claim 1 , further comprising the pull stud.

15. The system of claim 14 , wherein the pull stud includes a head portion configured to force the plurality of balls to move into the groove when the groove is aligned with the respective ball chambers.

16. The system of claim 14 , wherein the pull stud includes a neck portion configured to allow the plurality of balls to lock the pull stud in the grabbing mechanism.

17. The system of claim 14 , wherein the pull stud includes a shoulder portion arranged to limit movement of the pull stud within the ball cage.

18. The system of claim 17 , further comprising the object.

19. The system of claim 18 , wherein the object is a balloon including a top cap, and the pull stud is attached to the top cap.