The invention discloses a tree climbing pruning robot with a memory function and a decision making function. The tree climbing pruning robot with the memory function and the decision making function comprises a support, a door, an electric saw and a driven wheel mechanism. The support mainly comprises an upper support, a lower support, multiple middle supports and stand columns. The door is hingedwith the upper support and the lower support, and controllers, a driving wheel steering motor and the electric saw are installed on the door. The driven wheel mechanism comprises lead screws, compression springs and driven wheels. The controllers adjust the stretching and drawing quantities of the lead screws and control the pressure, applied to a tree, of the driven wheels. The tree climbing pruning robot initializes the course angle through the controllers, and therefore the situation that when the tree climbing pruning robot is started each time, the initial position faces the same direction is guaranteed, and the follow-up morphological modeling of the tree is facilitated; the driven wheel mechanism adopts the compression springs to reduce the influence of the vibration on a tree climbing pruning robot body so as to protect a mechanical electrical structure of the tree climbing pruning robot body, and the angles of the driven wheels can be freely adjusted; and a ratchet wheel device is installed on the electric saw, when the cutting torque is excessively high, the ratchet wheel device can slide, and therefore the electric saw is protected against damage.