I open my incubator at least three times a week.
I have a large cabinet sized incubator (Sportsman 1202) and I run staggered hatches with it. I put eggs in every weekend and every weekend I have a hatch that comes out.
The incubator gets opened when I put the eggs in on Saturday. Then I candle the eggs on Wednesday to check for fertility. I don't like leaving dud eggs in the incubator as all that heat and humidity starts to decompose them and I don't want any bad gasses in the incubator. It also gets opened when I add water, and of course to take chicks out, So, as you can tell mine gets opened quite a lot.
I think the key from my perspective is to open it as little as possible while a hatch is taking place. Remember a mama hen will get off her nest and leave the eggs for quite long stretches while she eats and poops throughout the natural incubation, but then doesn't move a lot once the chicks start to hatch.
Just my $.02.
Cheers,
Urban Coyote