The invention relates to a door-type access control robot. The robot comprises a folding door body and two perforated piles; the two ends of the folding door body are supported by mechanical arms, andeach mechanical arm is provided with a manipulator; the folding door body is provided with an access control device and a camera, the bottom of each mechanical arm is provided with a roller, and therollers are driven by a direct current motor to rotate and circularly rotate with the main folding door body as a center; the center of the main folding door body is rotatably connected to a cross foot frame, the two perforated piles are arranged at the two sides of the main folding door body respectively, and the manipulators, the access control device, the camera and the direct current motor areconnected with a controller separately. The designed door-type access control robot can be conveniently folded, moved and transported, is provided with an access control system to meet the requirement for access management, can be applied to leasing markets and has broad market prospects.