In the age of respiratory illnesses like COVID 19, we understand the necessity for a robot based delivery system to ensure safe and contact free courier delivery. A blockchain based Dynamic IDentifier gives people total power over their identities while preserving auditability and anonymity. A human mobile phone and a robot are machines created with a chip, making it simple to deploy a physical unclonable function based verification system between the robot and the customer. This article presents a novel framework and a first customer verification scheme for verified courier delivery utilizing the blockchain enabled DID and PUF enabled robots. We employ DID for customer authentication between a robot (a service provider) and a customer and PUF for robot verification by the customer. We ve also put the proposed work into practice and demonstrated its capabilities in terms of throughput, latency, computing cost, and communication cost. We also show formal security proof for the proposed user verification scheme based on the tamarin prover.