I'm sorry to hear that happened OP but at least we know and, are certain that he was never doing it in his sleep and always knew what he was doing to you.
It might be an idea, as pp have mentioned, to pack some bags for yourself and the children and leave them with your friend. Here's what to pack.
Abusers sense when they are losing control and their abuse can escalate, so if it seems as though he's going to force himself on you again then please dial 999 and get away from him. Here's information on making a safety plan.
We'll stick to the plan of waiting to hear back from Women's Aid and phoning Gingerbread next week. In the meantime, see if you can pack some bags and read the information on making a safety plan.
I know you're busy next week with relatives visiting but hopefully that will keep your husband occupied enough. You'll need a pen and paper for the conversation as they'll give you lots of information you'll need to write down, so have that to hand when you make the phone call.
You want to ask Gingerbread about: Child Maintenance, Benefits/Tax Credits/Universal Credit, Child Contact Arrangements and Housing Rights.
They also know about emergency funds and grants and they are trained in domestic abuse OP, so can help you with that. If you can get copies of any of the financial documents to prepare for the phone call, that would be a good idea. However, don't do anything that may risk your safety. You have access to the joint bank account so can see what's going in regarding wages/benefits hopefully.
Once you've done that, you'll have a clearer idea of where you stand in the event of separation and your options.
We'll then work on getting legal advice.