A touching detection device (1, 1') comprising: a probe having a touched part, a support part supporting the touched part, and a sensed part, the touched part having a touch surface to be touched by an object to be detected; a sensor sensing the sensed part of the probe; and a body holding the probe and the sensor, wherein: the touched part has two touch surfaces (11a, 11b, 11c, 11d) to be touched by the object to be detected, the two touch surfaces (11a, 11b, 11c, 11d) being perpendicular to each other; the support part is held by the body to be swingable in each of two directions in which the object to be detected touches each of the two touch surfaces (11a, 11b, 11c, 11d) of the touched part; the sensed part is configured to be displaced in accordance with an amount of swing of the support part in each of the two directions; the sensor is configured to, when the sensed part is displaced by a preset displacement amount in accordance with the amount of swing of the support part in each of the two directions, sense the sensed part and output a detection signal; and the support part is configured to support the touched part via an angle adjustment mechanism (15, 60) configured to be able to adjust an angle of each of the two touch surfaces (11a, 11b, 11c, 11d) in a corresponding swinging direction of the support part. a probe having a touched part, a support part supporting the touched part, and a sensed part, the touched part having a touch surface to be touched by an object to be detected; a sensor sensing the sensed part of the probe; and a body holding the probe and the sensor, wherein: the touched part has two touch surfaces (11a, 11b, 11c, 11d) to be touched by the object to be detected, the two touch surfaces (11a, 11b, 11c, 11d) being perpendicular to each other; the support part is held by the body to be swingable in each of two directions in which the object to be detected touches each of the two touch surfaces (11a, 11b, 11c, 11d) of the touched part; the sensed part is configured to be displaced in accordance with an amount of swing of the support part in each of the two directions; the sensor is configured to, when the sensed part is displaced by a preset displacement amount in accordance with the amount of swing of the support part in each of the two directions, sense the sensed part and output a detection signal; and the support part is configured to support the touched part via an angle adjustment mechanism (15, 60) configured to be able to adjust an angle of each of the two touch surfaces (11a, 11b, 11c, 11d) in a corresponding swinging direction of the support part. the touched part has two touch surfaces (11a, 11b, 11c, 11d) to be touched by the object to be detected, the two touch surfaces (11a, 11b, 11c, 11d) being perpendicular to each other; the support part is held by the body to be swingable in each of two directions in which the object to be detected touches each of the two touch surfaces (11a, 11b, 11c, 11d) of the touched part; the sensed part is configured to be displaced in accordance with an amount of swing of the support part in each of the two directions; the sensor is configured to, when the sensed part is displaced by a preset displacement amount in accordance with the amount of swing of the support part in each of the two directions, sense the sensed part and output a detection signal; and the support part is configured to support the touched part via an angle adjustment mechanism (15, 60) configured to be able to adjust an angle of each of the two touch surfaces (11a, 11b, 11c, 11d) in a corresponding swinging direction of the support part.