I hate the terms "the poor" and "the rich" as if they are just homogeneous entities that always have stayed the same. Many people have gone from poverty to riches, and many people have also gone from riches into poverty.
There isn't a fixed amount of wealth in the world that "the rich" have a control over. Wealth can be both created and destroyed. It is created when someone does something that adds value for someone else, like writing a computer program to increase productivity, or finding a cure to a disease so people can live easier.
Some people are born into poverty, unfortunately. Other people put themselves into poverty, or keep themselves in poverty, through laziness and stupidity. Look, I might feel bad for the guy taking my order at McDonalds, but I don't want him to handle my investments, give me a checkup when I'm sick, advise me on politics if I was a leader of some sort, and so on...and THAT is why he does not earn as much as a skilled profession. If you have developed a good set of skills and you put them to use, you might not become super rich, but it will be quite hard for you to stay in poverty.