Can closing machine

Abstract

A can closing machine (10) is operative to close standard gauge aluminum cans as well as lighter, weight reduced cans which have a lower column strength. Exemplary arrangements include a can closing machine that includes a turret (12) with a plurality of angularly spaced can closing stations (16). Each can closing station includes a lower chuck (44, 172) and an upper chuck (54). Can seaming rolls are operative to produce a continuous double seam (70) that join a can body (50) and a can lid (56) in sealed fluid tight relation. The machine is operative to precisely control the vertical velocity, position and momentum of the lower chuck and the can components supported thereon when engaging the upper chuck to reduce the risk of damage to can bodies and producing defective seams.

1 . Apparatus comprising:
 a high speed can closing machine including:   a rotatable turret, wherein the turret
 is rotatable about a turret axis in a first rotational direction, 
 includes a plurality of angularly disposed can closing stations, 
 wherein the can closing stations are positioned at a radially outer periphery of the turret, 
 wherein each can closing station includes
 a lower chuck, wherein the lower chuck
 includes a can supporting platform, wherein the can supporting platform 
  is configured to support a bottom end of a respective can body, wherein the can body houses can contained material, 
  is rotatable about a chuck axis in a second rotational direction opposed of the first rotational direction, 
  is selectively movable vertically relative to the turret, 
 
 a lower chuck vertical actuator, wherein the vertical actuator is in operative connection with the lower chuck and is operative to cause selective vertical movement of the can supporting platform, 
 an upper chuck, wherein the upper chuck
 is axially aligned with the chuck axis, 
 is vertically immovable relative to the turret, 
 is rotatable in the second rotational direction and in coordinated relation with the can supporting platform, 
 is configured to engage a can lid, wherein the can lid is positioned in closing relation of a can opening at an upper end of the can body, wherein the upper end is axially opposed of the bottom end, 
 
 first and second seaming rolls, 
 wherein with the can bottom end engaged with the can supporting platform and the can lid engaged with the upper chuck,
 the first seaming roll is operative to engage an upper annular peripheral flange on the can body that extends in surrounding relation of the can opening and an annular peripheral portion of the can lid, and responsive at least in part to rotation of the can body and the can lid about the chuck axis, to cause in axial cross section the annular peripheral portion of the can lid to extend around the annular peripheral flange to produce a continuous annular peripheral can double seam, and 
 the second seaming roll is operative to engage the seam after engagement with the first seaming roll, and 
 responsive at least in part to rotation of the can body and can lid about the chuck axis, to cause radial compression of the seam and the seam to be fluid tight, 
 
 
 wherein the machine is operative to cause the can closing station to receive the can body and can lid, the can lid and can body to be raised to engage the can lid and the respective upper chuck, and the can body and can lid to be joined by the fluid tight seam that is operative to close the can opening during less than one turret rotation, 
 wherein the can closing machine is operative to cause the can lid to engage the upper chuck with combined vertical momentum of the lower chuck, the can body, the can lid and the can contained material that is not greater than 0.21 Ns. 
   
     
     
         2 . The apparatus according to  claim 1   wherein the turret rotates in the first rotational direction at a speed of at least 90 RPM,   wherein each can closing station receives a respective can body that has a column strength of approximately 550 N, and   the can closing machine is operative to produce fluid tight seams that close at least 1600 cans per minute.   
     
     
         3 . The apparatus according to  claim 1   wherein the turret rotates in the first rotational direction at a speed of at least 100 RPM,   wherein each can closing station receives a respective can body that has a column strength of approximately 550 N, and   the can closing machine is operative to produce fluid tight seams that close at least 1800 cans per minute.   
     
     
         4 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a compression spring, wherein the compression spring
 extends axially and applies a force in aligned relation with the chuck axis, 
 is positioned on the lower chuck operatively intermediate of the lower chuck vertical actuator and the can supporting platform, 
 
 includes an axially lower spring end,
 wherein immediately after can lid and upper chuck engagement, the lower chuck vertical actuator is operative to cause the lower spring end to move upward at a constant velocity for at least 0.013 cm, 
 
   wherein the can closing machine is operative to cause the can supporting platform to apply a linearly increasing force to the bottom end of the can body and to the upper chuck immediately after can lid and upper chuck engagement.   
     
     
         5 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a compression spring, wherein the compression spring
 extends axially and applies a force in aligned relation with the chuck axis, 
 is positioned on the lower chuck operatively intermediate of the lower chuck vertical actuator and the can supporting platform, 
 
 includes an axially lower spring end, 
 wherein immediately after can lid and upper chuck engagement, the lower chuck vertical actuator is operative to cause a lower spring end to move upward at a constant velocity, 
 wherein the can closing machine is operative to cause lower spring end movement that causes the can supporting platform to apply a linearly increasing additional force with a maximum of less than 36 N to the bottom end of the can body and to the upper chuck immediately after can lid and upper chuck engagement. 
   
     
     
         6 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a compression spring, wherein the compression spring
 extends axially and applies a force in aligned relation with the chuck axis, 
 is positioned on the lower chuck operatively intermediate of the lower chuck vertical actuator and the can supporting platform, 
 is preloaded to a force level of 355 N to 445 N prior to can lid and upper chuck engagement, 
 
 wherein the can closing machine is operative to cause immediately after can lid and upper chuck engagement,
 the lower chuck vertical actuator to cause a lower spring end to move upward at a constant velocity, and 
 the lower spring end movement to cause the can supporting platform to apply a linearly increasing additional force in addition to the preloaded force level, with a maximum of less than 36 N, to the bottom end of the can body and to the upper chuck. 
 
   
     
     
         7 . The apparatus according to  claim 1   wherein the vertical actuator is operative to cause the can lid to engage the upper chuck at an upward velocity in a range of 0.010 m/s to 0.015 m/s.   
     
     
         8 . The apparatus according to  claim 1   wherein the can closing machine is operative to cause the can supporting platform of each lower chuck to move between a lowered position in which the can lid is disposed vertically away from the upper chuck and a raised position in which the can lid is engaged with the upper chuck,   wherein each can closing station further includes
 a knockout pad, wherein the knockout pad
 is aligned with the chuck axis, 
 applies a vertically downward force opposing upward movement of the can lid and the can supporting platform intermediate of the lowered position and the raised position and while the can body and can lid rotate in the second rotational direction in engagement with the can supporting platform. 
 
   
     
     
         9 . The apparatus according to  claim 1   wherein the can closing machine is operative to cause the can supporting platform of each lower chuck to move between a lowered position in which the can lid is disposed vertically away from the upper chuck and a raised position in which the can lid is engaged with the upper chuck,   wherein each can closing station further includes
 a knockout pad, wherein the knockout pad
 is aligned with the chuck axis, 
 applies a vertically downward force of 145 N to 312 N opposing upward movement of the can lid and the can supporting platform intermediate of the lowered position and the raised position and while the can body and can lid rotate in the second rotational direction in engagement with the can supporting platform. 
 
   
     
     
         10 . The apparatus according to  claim 1   wherein the can closing machine is operative to cause the can supporting platform of each lower chuck to move between a lowered position in which the can lid is disposed vertically away from the upper chuck and a raised position in which the can lid is engaged with the upper chuck,   wherein each can closing station further includes
 a knockout pad, wherein the knockout pad
 is aligned with the chuck axis, 
 applies a vertically downward force of 222 N to 312 N opposing upward movement of the can lid and the can supporting platform intermediate of the lowered position and the raised position and while the can body and the can lid rotate in the second rotational direction in engagement with the can supporting platform and the turret rotates in the first rotational direction at least 5°. 
 
   
     
     
         11 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper portion of the chuck shaft and the upper sleeve is both rotationally and vertically movable relative to the upper portion of the chuck shaft and the upper sleeve. 
   
     
     
         12 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed operative connection with the can supporting platform, and 
 includes at least one radially extending axially elongated slot, 
 wherein a respective pin extends radially through a respective axially elongated slot and operatively engages the piston and the upper portion of the chuck shaft,
 wherein the piston is in fixed rotational connection with the upper portion of the chuck shaft and while in contacting surrounding relation with the upper portion of the chuck shaft is axially movable relative to the upper portion of the chuck shaft, 
 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper sleeve is both rotationally and vertically movable relative to the upper sleeve. 
   
     
     
         13 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 a compression spring,
 wherein the compression spring extends in centered relation of the chuck axis and operatively intermediate of the piston and the upper portion of the chuck shaft, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper sleeve is both rotationally and vertically movable relative to the upper sleeve. 
   
     
     
         14 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 a compression spring,
 wherein the compression spring extends in centered relation of the chuck axis and operatively intermediate of the piston and the upper portion of the chuck shaft, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper sleeve is both rotationally and vertically movable relative to the upper sleeve. 
   
     
     
         15 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 a compression spring,
 wherein the compression spring extends in centered relation of the chuck axis and operatively intermediate of the piston and the upper portion of the chuck shaft, 
 
 a spring adjusting screw, 
 wherein the spring adjusting screw
 is in operative connection with the compression spring, 
 extends in the piston, and 
 is selectively axially positionable, 
 whereby the spring adjusting screw enables selectively setting a preload force on the compression spring, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper sleeve is both rotationally and vertically movable relative to the upper sleeve. 
   
     
     
         16 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear and a lower portion of the chuck shaft extends vertically below the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper portion of the chuck shaft and the upper sleeve is both rotationally and vertically movable relative to the upper portion of the chuck shaft and the upper sleeve, 
 a slider, wherein the slider
 includes a cylindrical slider cavity, wherein the slider cavity is in centered relation with the chuck axis, 
 wherein the lower portion of the chuck shaft extends in the slider cavity, 
 at least one bearing, wherein the at least one bearing extends in the slider cavity and radially intermediate of the lower portion of the chuck shaft and the slider, 
 whereby the chuck shaft is rotatable in the slider cavity, 
 
 an annular lower sleeve, wherein the lower sleeve
 extends in contacting surrounding relation of the slider, and 
 is in fixed operative connection with the turret, 
 wherein while in contacting relation with the lower sleeve the slider is vertically movable relative to the lower sleeve. 
 
   
     
     
         17 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear and a lower portion of the chuck shaft extends vertically below the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 wherein while in contacting relation with the upper sleeve the piston is both rotationally and vertically movable relative to the upper sleeve, 
 
 a slider, wherein the slider
 includes a cylindrical slider cavity, wherein the slider cavity is in centered relation with the chuck axis, 
 wherein the lower portion of the chuck shaft extends in the slider cavity, 
 
 at least one bearing, wherein the at least one bearing extends in the slider cavity and radially intermediate of the lower portion of the chuck shaft and the slider,
 whereby the chuck shaft is rotatable in the slider cavity, 
 
 an annular lower sleeve, wherein the lower sleeve
 extends in contacting surrounding relation of the slider, and 
 is in fixed operative connection with the turret, 
 wherein while in contacting relation with the lower sleeve the slider is vertically movable relative to the lower sleeve, 
 
 wherein the lower chuck vertical actuator includes a cam roller, 
 wherein the cam roller is mounted in journalled relation on the slider. 
   
     
     
         18 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear and a lower portion of the chuck shaft extends vertically below the chuck gear, 
 
 a piston, wherein the piston
 extends in contacting surrounding relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in contacting surrounding relation of the piston, and 
 extends vertically below the can supporting platform, 
 wherein while in contacting relation with the upper sleeve the piston is both rotationally and vertically movable relative to the upper sleeve, 
 
 a slider, wherein the slider
 includes a cylindrical slider cavity, wherein the slider cavity is in centered relation with the chuck axis, 
 wherein the lower portion of the chuck shaft extends in the slider cavity, 
 
 at least one bearing, wherein the at least one bearing extends in the slider cavity and radially intermediate of the lower portion of the chuck shaft and the slider, 
 whereby the chuck shaft is rotatable in the slider cavity, 
 an annular lower sleeve, wherein the lower sleeve
 extends in contacting surrounding relation of the slider, and 
 is in fixed operative connection with the turret, 
 wherein while in contacting relation with the lower sleeve the slider is vertically movable relative to the lower sleeve, 
 wherein the lower chuck vertical actuator includes a cam roller, 
 wherein the cam roller is removably mounted in journalled relation on the slider intermediate of a pair of downward extending legs, 
 
 wherein the slider includes an access opening,
 wherein the access opening extends along the chuck axis and intermediate of the legs, 
 
 a removable shaft retainer, wherein the shaft retainer operatively releasably holds the shaft in vertically engaged relation with the slider, 
 wherein the shaft retainer is accessible through the access opening. 
   
     
     
         19 . The apparatus according to  claim 1   wherein the lower chuck further includes a cam roller and a further cam roller,   wherein the vertical actuator includes a lifter cam and a hold down cam,   wherein the cam roller is in operative engagement with the lifter cam, and   the further cam roller in operative engagement with the hold down cam.   
     
     
         20 . The apparatus according to  claim 1   wherein the lower chuck further includes
 a chuck shaft, wherein the chuck shaft extends along the chuck axis, 
 a chuck gear, wherein the chuck gear is in fixed operative connection with the chuck shaft,
 wherein an upper portion of the chuck shaft extends vertically above the chuck gear, 
 
 a piston, wherein the piston
 has an annular piston outer surface, wherein the annular piston outer surface has a piston outer diameter, 
 includes an inner annular surface that extends in surrounding movably engaged relation of the upper portion of the chuck shaft, 
 is in fixed rotational connection with the upper portion of the chuck shaft, 
 is axially movable relative to and in engaged relation with the upper portion of the chuck shaft, and 
 is in fixed operative connection with the can supporting platform, 
 
 a compression coil spring, wherein the compression coil spring
 extends in centered relation of the chuck axis and operatively intermediate of the piston and the upper portion of the chuck shaft, and 
 has a coil spring outer diameter, 
 
 an annular upper sleeve, wherein the upper sleeve is in fixed operative connection with the turret, 
 wherein the upper sleeve
 extends in surrounding movably engaged relation with the outer surface of piston, and 
 extends vertically below the can supporting platform, 
 
 wherein the piston while in contacting relation with the upper sleeve is both rotationally and vertically movable relative to the upper sleeve, 
 wherein the lower chuck is configured such that when the bottom end of the can body that is axially centered on the can supporting platform
 a can downward facing bottom wall is in abutting relation with the can supporting platform, and 
 the can downward facing bottom wall has an axially centered vertically upward extending can dome, wherein the can dome
 extends away from the can supporting platform, and 
 is bounded immediately adjacent to the can downward facing bottom wall by a vertically extending can dome surface, and 
 the can dome surface has a can dome diameter, 
 
 the piston outer diameter is greater than the can dome diameter, and is at least twice the coil spring outer diameter, and 
 the can dome diameter is greater than the coil spring outer diameter. 
 
   
     
     
         21 . Apparatus comprising:
 a high speed can closing machine including:   a rotatable turret, wherein the turret
 is rotatable about a turret axis, and 
 includes a plurality of angularly disposed can closing stations, 
 wherein each of the can closing stations is positioned at a radially outer periphery of the turret,
 wherein each can closing station is configured to close a respective can housing a can contained material during less than one turret rotation by joining a can body and a can lid through formation of a continuous fluid tight double seam at an upper circumferential periphery of the respective can body, 
 
   wherein each can closing station includes
 an upper chuck, wherein the upper chuck is
 rotatable about a chuck axis, 
 configured to be held vertically immovable relative to the turret, and 
 configured to engage the can lid positioned in closing relation of an upper opening of the can body, 
 
 a lower chuck, wherein the lower chuck
 includes a can supporting platform, 
 wherein the can supporting platform is configured to engage a bottom end of the can body opposed of the upper end, 
 wherein the can supporting platform
 is rotatable about the chuck axis, and 
 selectively vertically movable relative to the upper chuck, 
 
 
 at least two seaming rolls, wherein the seaming rolls
 are operative to engage an upper annular peripheral flange located adjacent the upper opening of the can body and an annular peripheral portion of the can lid and cause formation of the continuous double seam while the upper chuck is vertically immovable relative to the turret, the can lid is engaged with the upper chuck, the can bottom is engaged with the lower chuck and the can body and the can lid are rotated about the chuck axis, 
 
   wherein the can closing machine is operative to
 cause the can bottom end of the can body housing the can contained material to be positioned in axially centered relation on the can supporting platform and to cause the can lid to be positioned in the upper opening, and then cause the can supporting platform to move vertically upward to cause the can lid to engage the upper chuck, 
 wherein the can lid is engaged with the upper chuck with combined vertical momentum of the lower chuck, the can body, the can lid and the can contained material that is not greater than 0.21 Ns. 
   
     
     
         22 . The apparatus according to  claim 21   wherein the can closing machine is operative to cause the can lid to engage the upper chuck while moving upward at a velocity within a range of 0.010 to 0.015 m/s.   
     
     
         23 . Apparatus comprising:
 a high speed can closing machine including:   a rotatable turret, wherein the turret
 is rotatable about a turret axis in a first rotational direction, 
 includes a plurality of angularly disposed can closing stations, 
 wherein the can closing stations are positioned at a radially outer periphery of the turret, 
 wherein each can closing station includes
 a lower chuck, wherein the lower chuck
 includes a can supporting platform, wherein the can supporting platform 
  is configured to support a bottom end of a can body, wherein the can body houses can contained material, 
  is rotatable about a chuck axis in a second rotational direction opposed of the first rotational direction, 
  is selectively movable vertically relative to the turret, 
 
 a lower chuck vertical actuator, wherein the vertical actuator is in operative connection with the lower chuck and is operative to vertically position the can supporting platform, 
 an upper chuck, wherein the upper chuck
 is axially aligned with the chuck axis, 
 is vertically immovable relative to the turret, 
 is rotatable in the second rotational direction and in coordinated relation with the can supporting platform, 
 is configured to engage a can lid, wherein the can lid is positioned in closing relation of a can opening at an upper end of the can body, wherein the upper end is axially opposed of the bottom end, 
 
 first and second seaming rolls, 
 wherein with the can bottom end engaged with the can supporting platform and the can lid engaged with the upper chuck,
 the first seaming roll is operative to engage an upper annular peripheral flange on the can body that extends in surrounding relation of the can opening and an annular peripheral portion of the can lid, and responsive at least in part to rotation of the can body and the can lid about the chuck axis, to cause in axial cross section the annular peripheral portion of the can lid to extend around the annular peripheral flange to produce a continuous annular peripheral can double seam, and 
 the second seaming roll is operative to engage the seam after engagement with the first seaming roll, and 
 responsive at least in part to rotation of the can body and can lid about the chuck axis, to cause radial compression of the seam and the seam to be fluid tight, 
 
 
 wherein the machine is operative to cause the can body and can lid to be received at the can closing station and cause the can lid and can body to be raised to engage the can lid with the upper chuck, and the can body and can lid to be joined by the fluid tight seam that is operative to close the can opening during less than one turret rotation, 
 wherein the can closing machine is operative to cause the can lid to engage the upper chuck with a vertically upward velocity of not greater than 0.015 m/s. 
   
     
     
         24 . The apparatus according to  claim 23   wherein the can closing machine is operative to cause the can lid to engage the upper chuck with combined vertical momentum of the lower chuck, the can body, the can lid and the can contained material that is not greater than 0.21 Ns.