The invention discloses a three-dimensional calibration device for a curve flexible touch sensor array, which comprises a three-dimensional guide rail robot, a three-dimensional force loading mechanism, an array platform and a control part electrically connected with the array platform, wherein the three-dimensional guide rail robot comprises an X axis guide rail, a Y axis guide rail and a Z axis guide rail, each of which is provided with a grating ruler having a position detection function; the three-dimensional force loading mechanism is arranged at the lower end of the Z axis guide rail through an installing flange of a parallel mechanism; the three-dimensional force loading mechanism comprises the parallel mechanism and a three-dimensional force detecting part; and the three-dimensional force detecting part is arranged at the operation tail end of the parallel mechanism. The device is used for realizing the accurate positioning by driving the three-dimensional guide rail robot to drive the three-dimensional force loading mechanism to perform spatial positioning and matching with the closed loop position control of the grating ruler. The parallel mechanism is used for adjusting the posture of a three-dimensional force loading head. When three-dimensional force detected by a standard three-dimensional touch sensor reaches a preset value, a measuring value and a corresponding matrix position coordinate of a sensor sampling circuit are outputted.