This is not at all how this ranging module would be connected.
First, you need to provide a 10us trigger pulse, repetitively, to cause the sensor to perform ranging. Then the output pulse's width is proportional to the distance. There are only two voltage levels: logic high and logic low.
If the trigger pulses are provided at a fixed frequency, then the duty cycle of the output signal will be proportional to range. You can then low-pass filter the digital output signal and thus obtain its average value, proportional to the duty cycle, and thus to the range.
Thus, what you need is:
A source of trigger pulses going to the TRIG input. That can perhaps be an NE555, or an op-amp based pulse generator circuit.
A low-pass filter on the ECHO output.
A comparator that compares the output of the low-pass filter with some reference voltage.
All of those functions can be easily implemented using a quad op-amp, thus you could have a single-chip solution with some passive external components. In addition, you'll need a transistor to turn the vibrating motor on. Given the low power nature of it all, a low-power signal transistor or a small mosfet will be sufficient.
You'll also need a 5V voltage regulator. But 9V batteries are not particularly efficient. You could use a little boost module to take 1.5V from an AA cell up to 5V. There's a multitude of those available on the market.
The total current consumption of the circuit would be below 50mA, so a 50mA (or higher) 1.5-to-5V boost module would be more than sufficient. The cheap boost modules have an electrically noisy output usually, so I'd suggest a passive LC filter on the output. The size of the total solution could fit into the volume of three AA batteries, even if the op-amp circuit was implemented through-hole on a strip of breadboard/veroboard.
The block schematic would look like this:
simulate this circuit – Schematic created using CircuitLab
I assume that the comparator CMP has open-collector output. If it'd be an op-amp instead, then a Schottky diode would be needed from the R3-C6 filter centerpoint to CMP's output.
C1-L1-C2 is a supply voltage PI filter. The recommended series resistance for L1 is <2 Ohm, to keep the voltage drop to less than 100mV.
VR1 sets the distance threshold.
R3-C6 sets the duration of the vibration after the distance threshold has been crossed.
An additional circuit may be necessary to suppress the vibration when the echo is absent. This could be as simple as a yet another RC filter and a transistor.