Astro King: Shoukan Yuusha no Maid Harem Kenkokuki

One day, a group of high school students were suddenly summoned to a different world and made into heroes. They were given the role of conquering dungeons, with the promise of unlimited sex with the beautiful maids of the mansion as the reward. While his horny classmates were being crushed by the dungeon one after another, Yoshitsune, who was only summoned as a "low-ranked hero," decided to do as he pleased in the new world instead, but......? The story of a boy who built a maid harem of his dreams using his heroic skills and wiles! (Source: Kill Time Communication, translated)