6 + 1 motors connected to an arduino uno?
Normally a full H-bridge (for one motor in bi-directional mode) will need 3 ouput pins. You can potentially force the enable pin to a constant level but that means you will always draw current for your motors even when they don't move, which is probably not what you want. ou might also wire all 6 enable pins together to one Arduino pin just to control power of all motos altogether.

In addition, each servo will need one output pin (typically 9 and 10 for both servos). 

Hence in the worst case, you would need 20 pins overall. You have them on Arduino UNO but this means you don't have anyhting else left, even Serial communication! 

If you can wire all 6 enable pins together, then you will need "only" 15 pins.

Also, note that if you want to control the speed of the DC motors, you will need PWM pins, but then you won't get enough with a UNO.

Regarding drivers ICs (L293 or L298), each of them has 2 full H-bridges, hence can drive 2 DC motors in bi-directional mode, so you will need 3 of them overall.