Hi!
24V relay should work at 18V, but it's contacts might not be opening/closing as fast as they should. That might increase arcing during switching heavy loads and reduce lifespan of the relay.
To use 12V relays you can reduce the voltage across the relay coil by adding a resistor in series with it.
First, measure the coil resistance.
To get the current you want the relay to work at, divide 12V by that resistance.
Next, Divide the voltage that you want to drop ( 18V - 12V = 6V ) by the current you calculated
You get resistance that you need.
Faster method:
The nominal coil voltage is 2/3 of supply voltage.
So you want the ratio between coil resistance and total resistance (of both the coil and the resistor ) to be the same
Example: If coil resistance is 200Ohm, then choose a 100Ohm resistor.