<?php
$xml = '<?xml version="1.0" encoding="UTF-8"?>
<urlset xmlns="http://w...content-available-to-author-only...s.org/schemas/sitemap/0.9">
   <url>
      <loc>http://w...content-available-to-author-only...m.br/numero/123/</loc>
      <lastmod>2005-01-01</lastmod>
      <changefreq>monthly</changefreq>
      <priority>0.8</priority>
   </url>
   <url>
      <loc>http://w...content-available-to-author-only...m.br/numero/124/</loc>
      <lastmod>2005-01-01</lastmod>
      <changefreq>monthly</changefreq>
      <priority>0.8</priority>
   </url>
   <url>
      <loc>http://w...content-available-to-author-only...m.br/numero/125/</loc>
      <lastmod>2005-01-01</lastmod>
      <changefreq>monthly</changefreq>
      <priority>0.8</priority>
   </url>
   <url>
      <loc>http://w...content-available-to-author-only...m.br/numero/126/</loc>
      <lastmod>2005-01-01</lastmod>
      <changefreq>monthly</changefreq>
      <priority>0.8</priority>
   </url>
</urlset>';

$urlset = simplexml_load_string($xml);

foreach($urlset as $url) {
    if (preg_match('#www\.site\.com\.br/numero/([^/]+)/#', $url->loc, $match)) {
        $numeros[] = $match[1];
    }
}

var_dump($numeros);
