During that time they will also welcome Argentina to Murrayfield on three occasions.
Scotland - who pioneered the short tour 50 years ago and have also had a history of undertaking tours to emerging rugby nations - will tour Australia, New Zealand, South Africa, Argentina, the Pacific Islands, Japan and North America during the schedule.
During British and Irish Lions tour years - 2013 and 2017 - Scotland will feature in tournaments involving one of the Southern Hemisphere's big three and other countries, the details of which are being finalised at present.
Robinson said: "I am very pleased with the tours schedule. I think we have a first-rate programme of Autumn Tests incoming to Murrayfield, which are important for our rugby development.
"As far as our overseas tours are concerned I do not believe it would be beneficial for us to play a series of three Tests against the individual SANZAR countries at the end of our season.
"What I believe works for us, from a performance perspective, is a mix between SANZAR and Tier 2 unions as that gives us the opportunity to develop players which is part and parcel of touring."
Graham Lowe, Scottish Rugby's Director of Performance, said: "I'm delighted that our request to the IRB for parity and equity in the November tour schedule has been accepted and that our preference for mixed tours in June has been agreed.
"Like Andy, I firmly believe that the schedule, as outlined, will assist with our rugby development and importantly develops solid relationships with some of world rugby's emerging nations."
Scotland's overseas tours
2012 - Australia/Pacific Islands TBC
2013 - South Africa - (in country competition)
2014 - South Africa and Argentina/North America TBC
2015 RWC
2016 - New Zealand and Japan (2)
2017 - Australia (in country competition)
2018 - Argentina and North America (2)
Scotland schedule: Visiting Murrayfield for Autumn Tests
2012 - New Zealand, South Africa, Tier 2 Union
2013 - South Africa, Australia, Tier 2 Option
2014 - Argentina, New Zealand, Tier 2 Union
2015 - RWC year
2016 - Australia, Argentina, Tier 2 Union
2017 -New Zealand, Australia, Tier 2 Option
2018 - South Africa, Argentina, Tier 2 Union
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