It gets better....especially as the kids get a little older. My kids are now 5, 7, and 16.
Give the 10-year-old child duties that require him/her to help out with the younger two. That can include pouring drinks or getting out a snack...changing a diaper or taking out the trash.
The 5-year-old can unload the dishwasher. Mine does. She puts all the utensils away and then stacks the other dishes on the counter. It saves me about 15 minutes every day and makes her take some responsibility for what she's messed up.
When my daughter was 10, she starting doing her own laundry. I told her that if she was going to continually change clothes 3-4 times a day, she'd have to take on the responsibility. She's 16 and still has to be reminded to do it, but it works. My 5 and 7-year-olds can sort their laundry and do. They also use those sorting skills to help fold socks, straighten up a room, and put the DVDs in order.
A 5-year-old can set the table for dinner and can keep the 1-year-old out of your hair while you fix it.
Children rise to the level of their parents' expectations. If you never teach your kids the value of housekeeping, cooking, and taking care of one another, they'll become lousy parents one day. If you expect it out of them, they will reach the goals you set. To do anything less it to set your child up for much failure.
As for the time to yourself...TAKE IT. Schedule it. Do it every week and forget the guilt. Guilt is a useless emotion. Sometimes I take my time DISing. Sometimes I go to the spa. Sometimes I just go for a pedicure.