解$:(1)$设每只$A$型球的质量为$x$千克,每只$B$型球的质量为$y$千克,
依题意得:$\{\begin{array}{l}{x+y=8}\\{2x+y=13}\end{array},$
解得:$\{\begin{array}{l}{x=5}\\{y=3}\end{array}.$
答:每只$A$型球的质量为$5$千克,每只$B$型球的质量为$3$千克.
$(2)$设$A$型球有$m $只,$B$型球有$n$只,
依题意得:$5m+3n=21,$
$∴n=7-\frac {5}{3}m.$
又$∵m,$$n$均为正整数,
$∴\{\begin{array}{l}{m=3}\\{n=2}\end{array}.$
答:$A$型球有$3$只,$B$型球有$2$只.