On a Mac (MacBook Air, Pro, etc), wait for the computer's AirDrop icon appears, then tap on it to transfer the voice memo to Downloads folder. Open the App Store app, search for Voice Memos and add it back to your iPhone. Select a voice memo track you wish to save to computer, tap the three dots and then press the Share icon which looks like a box with an arrow coming out. Under iOS 10, you may have removed the app from your iPhone. Go to Settings > General > Reset, then tap Reset Home Screen Layout. This removes all folders, restores the original wallpaper and returns the Home screen and all apps to their original layout (third-party apps are listed after built-in apps):
To search for the app, when viewing the Home screen on your iPhone:
When looking for the Voice Memos app icon, keep in mind that you may have moved it to a different Home screen and/or moved it into a folder (which may itself contain multiple pages of apps):