An accounting voucher is the record of one transaction in a double-entry system: which accounts were debited, which were credited, for how much, on what date and with what narration. Every voucher balances — total debits equal total credits — and the ledgers, trial balance and financial statements are all built from them.
Payment and receipt for money out and in; contra for movements between your own cash and bank accounts; journal for adjustments that involve neither; sales and purchase for trading transactions; credit and debit notes for adjusting them; and stock journals for movements of goods that are not sales or purchases.
Each type asks for the fields it actually needs — a receipt asks which invoices it settles, a contra asks for two of your own accounts. That is what stops a payment being recorded as a journal that nobody can later interpret.
In a properly integrated system an invoice, a salary run and a stock write-off each post a voucher automatically. Nothing reaches the trial balance by a side door, which is what makes it trustworthy.
It is the only part of the entry that explains why. A year later, a voucher with a good narration is a fact and one without is a puzzle.
An invoice is a commercial document you give a customer; the voucher is the accounting entry it produces. One invoice creates one voucher, which typically debits the customer and credits sales and the tax accounts.
Because double entry records every transaction twice in opposite directions. If the two sides do not agree, something has been left out — and the system telling you that immediately is the whole point.
Movements between your own cash and bank accounts — a cash deposit, a withdrawal, a transfer between two bank accounts. It affects neither income nor expense, which is why it has its own type.
In tBiz an invoice, a payslip and a stock write-off all post balanced entries automatically.