Abstract: A multi-function end effector includes a plurality of tool change mechanisms in a housing in which a spindle is also mounted for translation along an axis of the spindle. Each tool change mechanism has a gripper that releasably grips a tool holder in which a tool is mounted. The gripper of each tool change mechanism is movable between a stowed position to a tool-change position in which the gripper is coaxially aligned with the axis of the spindle for placing a tool holder held in the gripper in a position to be received by the spindle and for positioning the gripper to receive a tool holder from the spindle. The tools mounted in the tool holders include a drill bit, a countersink tool, and a fastener insertion tool. The end effector also includes a fastener feed system, a hammer device, and a sealant applicator.

Abstract: An apparatus for retrieving individual or a plurality of balls such as tennis balls from a playing court and for automatically storing the balls which includes a metal wire or rod frame in which the retrieved balls are stored. The frame has an exit opening at one end and an entrance opening at an opposite end thereof. Restraining rods are secured across the entrance opening and are positioned in the entrance opening to define a plurality of entry spaces of graduated dimensions, all less than the diameter of a ball so that the ball must be squeezed through the entry spaces into the central storage area afforded by the frame.