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Hi @testkid,
Have you already set QR codes for your products? If so, you can try using the wpo_wcpdf_after_item_meta action hook to display the QR image after the default item meta. You can see some code examples here: Displaying product custom fields
If you are not, I would recommend you to get WooCommerce Ultimate Barcodes, which is likely the best option out there to manage barcodes in WooCommerce (products, items, orders, documents, custom post, etc.) and it is 100% compatible with our PDF Invoices & Packing Slips for WooCommerce plugin.