Connection hole and axis

I have to make a connection between a hole and an axis, I tried to do it with a simple project but it doesn’t work. The axis doesn’t stay in the hole, it drops a bit. In reality is it not possible that the axis drops a bit, so are there any suggestions to make the hole/axis connection work? I already tried with several constraints (The connection is a bit similar like a bolt connection)

Do you have to move your axis in translation inside the hole?
I would create a physic constraint with all translation blocked and only a rotation free.
If the two collision shapes collide you might also want to disable the collision on the constraint.

The application is a belt transmission that can lift something, so it has to translate around the axis and this translation results in a linear movement to lift the application