How to download audio records from iPad/iPod/iPhone to computer/PC without iTunes?
Considering you talking about Windows when you say PC.

Windows itself can NOT access applications data folder, if you dont install any software on Windows you just can't access those files directly. 

Maybe you can send them via e-mail, WhatsApp, (whatever, something via internet), but, it depends if your app has this feature. Built-in app recoder from iOS can do that.