We present results of theoretical studies of the non-resonant excitation transfer in Rb(7S) + Rb(5S) and Rb(5D) + Rb(5S) collisions at thermal collision energies. Rb2 adiabatic molecular terms correlating with the 5S+7S, 5S+5D and 5P+5P states of separated atoms were calculated for internuclear distances R > 20 a.u. using asymptotic approximation. Mechanisms of collisional population and quenching of the 5D state were treated on the basis of the computed molecular terms, and the respective cross-sections were calculated. Theoretical cross-sections are in good agreement with the experimental values at thermal collision energies (\(\) K).