助けを呼ぶ声が聞こえた。

assistance; help; aid; support; reinforcement

indicates direct object of action; indicates subject of causative expression; indicates an area traversed; indicates time (period) over which action takes place; indicates point of departure or separation of action; indicates object of desire, like, hate, etc.

to call out (to); to call; to invoke; to summon (a doctor, etc.); to invite; to designate; to name; to brand; to garner (support, etc.); to gather; to take as one's wife

voice

indicates sentence subject (occasionally object); indicates possessive (esp. in literary expressions); but; however; still; and

to be heard; to be audible; to be said to be; to be reputed