There is a library which your program can use to support several servos at once. There are plenty of I/O pins for sensors and servos.
I'm not sure why you want to support 6V and 9V in the same circuit, but it's possible to do. You will have to do a little work with extra transistors to support driving the higher voltage devices via lower-voltage logic. Typically, you could just put 9V to the Duemilanove's voltage regulator and get 5V for the lower logic and keep using the 9V for the motors if desired.