$ (1)$证明:连接$BP,$$CP$
∵$PQ $垂直平分$BC,$∴$BP = CP$
$ $又$AP $平分$∠DAC,$$P D\perp AB,$$PE\perp AC$
∴$∠BDP=∠CEP=∠AEP = 90°,$$DP = EP$
∴$Rt\triangle BDP≌Rt\triangle CEP(\mathrm {HL})$
∴$BD = CE$
$ (2)$解:由$(1),$得$∠ADP=∠AEP = 90°,$$DP = EP,$$BD = CE$
∵$AP = AP,$∴$Rt\triangle ADP≌ Rt\triangle AEP(\mathrm {HL})$
∴$AD = AE$
$ $设$AD = AE = x\mathrm {cm}$
∵$AB = 6\ \mathrm {cm},$$AC = 10\ \mathrm {cm}$
∴$BD = AD + AB=(x + 6)\mathrm {cm},$$CE = AC - AE=(10 - x)\mathrm {cm}$
$ $即$x + 6 = 10 - x,$解得$x = 2$
∴$AD$的长为$2\ \mathrm {cm}$