The invention belongs to a connecting structure of a shaft and a rubber and in particular relates to a connecting structure of a servo motor output shaft and the rubber. The connecting structure comprises a servo mechanism, wherein the servo mechanism is connected with the rubber by an output shaft, and a screw and a dowel are used for locating connection of the servo mechanism and the rubber, and the end of the output shaft has a U-shaped connecting structure. The connecting structure has the following advantages: the end of the output shaft of the servo mechanism is of a U-shaped structure, and a rubber body is directly inserted into the U-shaped structure and is in locating connection with the U-shaped structure in three directions; as the U-shaped structure is arranged outside a main body structure of the servo mechanism, the installation space of the servo mechanism is saved; besides, the U-shaped structure is covered outside the rubber, the connecting size is large, the contact area is increased, high force moment can be borne, and the connecting structure has the advantage of simplicity in installation and maintenance.