If you don't want to have to lift over a permanent bottom lip, you can have a hinged side plate/rail that folds down as needed. Make it as tall as you want. Fold it back up and secure it to retain items on the shelf.
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I thought about putting the OSB shelves flush with the bottom of the steel tubing rather than the top, but didn't want to lose 2" of a 12" deep shelf. I doubt a 1/2" lip would have been sufficient, either.The guy that outfits our jobsite trailers basically installs all the shelves upside down so there is a lip that keeps thing from sliding off.
Some have mesh doors that lock, depending on who needs to be in them.
He has also standardized on containers.
For example all your hardware in smaller containers would live together in one larger tub, but in their separate containers in the tub.
Then he uses tubs and bungee cords to hold them in.
I thought I had a couple pics to share, but cannot find them.
You could weld a 1" tall 12 ga "kick plate" on the outside of the sq tube with it above shelf level so you must lift every box up 1" before pulling it out. Then weld chain links on edge every 12" along the face so you can make "X"s with bungee cords in front of every box.
Look inside campers and travel trailers at how everything has a latch, door, or hook so everything stays attached, so during travel, it reduces the chance of things launching out of their designated areas.
We have hooks on the wall that hang welding cables, drop cords, safety harnesses. Some of these stick out 12" with a 3" turn up on the end so they may swing, but not fall off.
I'm thinking something removable is probably the best option, the truck rarely moves (at least for now) so I don't need something permanent. The actual solution may vary shelf by shelf depending on what I end up storing on them, some may get a simple bungee and some may have a panel or door that can be removed when not in use. It would be pretty easy to install rivet nuts in the tubing to attach a panel across the open shelf, or perhaps use a quarter turn fastener.If you don't want to have to lift over a permanent bottom lip, you can have a hinged side plate/rail that folds down as needed. Make it as tall as you want. Fold it back up and secure it to retain items on the shelf.