That seems possible. Then, you could have a kicker to kick the ball away from the robot.
If you do that, don't forget to place a shoe on the armature, just for the sake of LOLs.
You might want to try it out with a BAG. They will get up to 14,000RPM, so you'd need to see if that'd work, otherwise, 550s, 775s, AMs, etc. Just don't try a window motor
.
For the kicker, you'd need to relieve the pressure as soon as kicker is about to hit it, to prevent having your vacuum following the ball into the goal, breaking it and getting your robot disabled.
Also, are you going to use the vacuum cleaner or are you going to build your own contraption? I'd like to see how it goes