Copy from nav-menu-template.php walker code, that start with
“class Walker_Nav_Menu extends Walker {…” to your function.php, and rename it:), like this one: Walker_Nav_Menu_dropcornermenu
Change:
$output .= "\n$indent<ul class=\"sub-menu\">\n";
to:
$output .= "\n$indent<div class=\"drop\"><ul class=\"sub-menu\">\n";
and also:
$output .= "$indent</ul>\n";
to:
$output .= "$indent</ul><div class=\"bottom\"><div class=\"box-center\"></div><div class=\"box-right\"></div></div></div>\n";
After all, just call your nav_menu
<?php
$walker_mymenu = new Walker_Nav_Menu_dropcornermenu ();
wp_nav_menu( array ( 'walker' => $walker_mymenu ) ); ?>