Lili, hugs and 
I'm guessing that this thread will have come as a shock to you - that we all unanimously agree that your husband is raping you - and it will take you a while to process this information and work out how to act on it.
My instinct, of course, is to scream "leave now!" But that may not be helpful to you right at the moment. Quite some time ago, there was a useful thread by women who had successfully escaped abusive relationships, with some dos and don'ts for those of us trying to offer support - and one theme which came up again and again was "Don't just shout Leave The Bastard" - leaving will take time, and planning, and money, and mental energy, and reserves of courage which will take time to gather together. Instead, these very brave women suggested asking "What would enable you to leave? How would you have to organise things so you could? What fears for the future would you have to overcome in order to leave?" Because by us asking you those questions, hopefully you can start to organise your own thoughts and work out how to make leaving possible.
So...
What would enable you to leave?
What would you have to organise to do so?
What fears for the future do you have if you do leave?
You mention in your OP that you earn money, so I'm presuming you have a job and some degree of financial independence.
Good luck with escaping this situation - you and your children will be much happier. You will be free. Your children will have a chance to grow up and not repeat the pattern of previous generations. (And, from personal experience, being a single parent is fine - I have a lovely DS, supportive friends, a job, hobbies, a full and happy life).