To solve the problem that the single-vortex gripper is easy to cause the rotation of workpiece due to the internal rotating flow field, resulting in the failure of non-contact handling, a concentric double-vortex non-contact vacuum gripper scheme was proposed. The structures of the inner and outer vortex chambers are concentric and the flow directions are opposite. The inner vortex generates a vacuum to provide suction force, and the reverse airflow of the outer vortex is used to balance the friction torque of the inner vortex on the workpiece. The effects of the working parameters of the gripper on the friction torque and suction force on the workpiece were studied. Simulation results show that the friction torque generated by the outer vortex on the workpiece is slightly greater than that of the inner vortex under the same air supply pressure, suggesting that the rotation prevention can be achieved by appropriately reducing the air supply pressure of the outer vortex chamber. Under the same air supply flow, the suction force of double-vortex gripper is slightly less than that of single-vortex gripper. The influence of the structural parameters of the double vortex gripper on the suction force was analyzed, and the orthogonal experiment was carried out to obtain the optimal structural parameter. The prototype of double-vortex gripper was tested, the results show that under the same conditions, the suction force of concentric double-vortex non-contact vacuum gripper is basically equivalent to that of single-vortex gripper, and the torque of the workpiece is reduced by about 90%, that improves the stability of the workpiece and the reliability of handling.