Don't reinvent the wheel mate :) check out https://github.com/eventmachine/eventmachine (IO lib based on reactor pattern like node.js etc) or (perhaps preferably) https://github.com/celluloid/celluloid-io (IO lib based on actor pattern, better docs and active maintainers)
OPTION 1 - use EM or Celluloid to handle non-blocking sockets
EM and Celluloid are quite different, EM is reactor pattern ("same thing" as node.js, with a threadpool as workaround for blocking calls) and Celluloid is actor pattern (an actor thread pool).
Both can do non-blocking IO to/from a lot of sockets and delegate work to a lot of threads, depending on how you go about to do it. Both libs are very robust, efficient and battle tested, EM has more history but seems to have fallen slightly out of maintenance (https://www.youtube.com/watch?v=mPDs-xQhPb0), celluloid has nicer API and more active community (http://www.youtube.com/watch?v=KilbFPvLBaI).
Best advice I can give is to play with code samples that both projects provide and see what feels best. I'd go with celluloid for a new project, but that's a personal opinion - you may find that EM has more IO-related features (such as handling files, keyboard, unix sockets, ...)
OPTION 2 - use background job queues
I may have been misguided by the low level of your question :) Have you considered using some of the job queues available under ruby? There's a TON of decent and different options available, see https://www.ruby-toolbox.com/categories/Background_Jobs
OPTION 3 - DIY (not recommended)
There is a pure ruby implementation of EM, it uses IO selectables to handle sockets so it offers a pattern for what you're trying to do, check it out: https://github.com/eventmachine/eventmachine/blob/master/lib/em/pure_ruby.rb#L311 (see selectables handling).
However, given the amount of other options, hopefully you shouldn't need to resort to such low level coding.