If you are working whether at home or outside, why is it your job to keep things clean? If they expect a clean house, then they need to participate in keeping it clean. Assign a room each to the kids, and ask your husband for help.
Other than that do one room a day. Once things get clean, it only takes about 10 minutes a day to do that one room. Bathrooms on Monday, Bedroom on Tuesday etc.
I just feel really bad that your family "expects" a clean house. You aren't a slave and a family is a partnership. Put them to work :-)