The invention discloses an oscillating staking machine for microfiber synthetic leather. The oscillating staking machine comprises two groups of upper toothed plate assemblies (21), a lower toothed plate (22), crankshaft connecting rod devices (25 and 27), a main motor, an upper elastic clamping curtain (23), a lower elastic clamping curtain (24) and a rack (26), wherein each group of upper toothed plate assemblies comprises an upper toothed plate (211), a substrate (212) and a cylinder (216); a group of worm and gear lifters (214 and 215) are fixed at four corners of each upper toothed plate; an upper toothed plate depth adjusting rod (215) is adopted as a shaft of a worm wheel (214) in each worm and gear lifter; worms (213) of the four groups of worm and gear lifters are driven by an adjusting motor (222); and the four depth adjusting rods in the upper toothed plate assembles are capable of driving the four groups of worm and gear lifters to adjust by virtue of the adjusting motor to change the distance between each upper toothed plate and the lower toothed plate, and can be matched with an online softness test device and a control device, so that online automatic adjustment on the striking depth can be realized.