[SPARK-21163][SQL] DataFrame.toPandas should respect the data type

## What changes were proposed in this pull request?

Currently we convert a spark DataFrame to Pandas Dataframe by `pd.DataFrame.from_records`. It infers the data type from the data and doesn't respect the spark DataFrame Schema. This PR fixes it.

## How was this patch tested?

a new regression test

Author: hyukjinkwon <gurwls223@gmail.com>
Author: Wenchen Fan <wenchen@databricks.com>
Author: Wenchen Fan <cloud0fan@gmail.com>

Closes #18378 from cloud-fan/to_pandas.