Over the weekend, Maduro claimed the aid is part of a secret coup orchestrated by the USA government.
Venezuelan President Nicolas Maduro launched what he described as the "most important" military drills in the history on Sunday amid an ongoing political crisis in the South American nation.
Maduro and his "corrupt regime" has been backed into a corner and will soon crumble, with or without outside help, because 90 percent of the population are fed up and want change - and the army will soon too side with Venezuelan people, Guaido claimed. "This is a crime against humanity, men of the armed forces", Juan Guaido said. Guaido announced that three centers would be set up for the collection of humanitarian aid - in the Colombian city of Cucuta, Brazil and at an undisclosed island in the Caribbean.
Shipments of USA food, medicine, and humanitarian aid are on the Colombian side, with a tanker and two large trucks sitting in the middle of the bridge.
Humanitarian aid sent by the USA recently arrived in the Colombian city of Cucuta at the border with Venezuela, but Maduro has refused to let in the shipments.
The Russian draft expressed "concern over the attempts to intervene in matters which are essentially within the domestic jurisdiction", also voicing "concern over the threats to use force against the territorial integrity and political independence" of Venezuela.
The United States was the first to recognize Guaido as the president of Venezuela, followed by Canada, and many Latin and European nations.
Guaido declared himself Venezuela's interim president before masses of cheering supporters in late January, arguing that under the constitution he should become chief of state because Maduro's re-election was a sham.
Maduro is refusing to step down or call for a new election, accusing the USA of orchestrating a coup attempt.
Under Maduro's stewardship, oil-rich Venezuela's economy has collapsed leaving the country wracked by hyperinflation, recession and shortages of basic necessities such as food and medicine.