Trip

'Trip' is a countable noun which indicates travel to and from a place. It is often used together with the reason for the return journey.
trip是一个可数名词，指的是旅行到某地和从某地出发，通常会和往返旅行的原因一起说。

例句：

I took a trip to the coast last weekend to relax.
我上周末去了海边旅行放松了一下。

Frank needs to take some time off and maybe take a trip to some exotic location.
弗兰克需要请几天假，或许再出国去什么地方旅行一下。

Journey

Journey refers to the actual time spent travelling. It tends to be used in British English more often than in American English.
journey和旅行实际花费的时间有关。通常英式英语中更为常用。

例句：

How was your journey from Oxford?
从牛津来的这一路怎么样？

The journey to Rome was long and tiring.
去罗马的旅程又长又无聊。

Voyage

'Voyage' refers specifically to long distance travel by sea.
voyage指的是航海的长距离旅行。

例句：

The voyage to Japan takes about two weeks from San Francisco.
从旧金山到日本走海路大概需要两周时间。

Many voyages were made to the Indian Ocean during that period.
这段时间很多人航海去印度洋。