We've got the official overall number, but you'll have to do some guess-work to determine each individual number.
Sony released a new promotional video for the PlayStation brand (see it below) and in it, they say the combined worldwide sales of the PlayStation 4, PlayStation 3 and Vita have surpassed 100 million units.
The video was designed for third-party manufacturers who are thinking about creating peripherals for PlayStation. As for the stats, we've heard the PS3 has sold around 82 or 83 million, and the last official tally for the PS4 was 7 million (as of April 2014). However, a recent report indicates that PS4 sales may have hit 9 million…so what's that leave for the Vita? You go ahead and estimate.
We'll have to see if Sony can maintain their lead during this generation.