The icon lives in he Qcad folder, in my case it is /usr/local/qcad/doc/img/qcadicon.png. It probably belongs to root, so open a terminal and type:
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sudo cp /usr/local/qcad/doc/img/qcadicon.png ~/Desktop
This puts it where you can get to it.
If you right click on the top panel of the Ubuntu screen you get a menu with, as first item, 'Add to Panel'. Click on this and then on 'Custom Application Launcher'. In the 'Create Launcher' window, type 'Qcad' in the Name field, and, in the Command field, put the full path name for Qcad, eg (in my case) /usr/local/qcad/qcad
Left click on the Icon field in the 'Create Launcher' window. Use the 'browse' box to navigate to your Desktop and click on the qcadicon.png file. The launcher icon should appear in the top panel.