I try to use one weekend each month to cook and freeze in big batches. A lot of casseroles are easy to make in bulk, and I also like to have cooked meat and stock on hand. You can also keep a written or mental list of emergency back-ups on hand. Since time together is so very important, try to find ways for your children to be with you in the kitchen. Babies can play with kitchen utensils or their own toys or be carried in a sling or carrier.
Toddlers like to play with kitchen toys, too, and can start to help out a bit.
Older children can do a little more, as well as catching you up on what happened during their day. Therefore, you must decide what your priorities are and act accordingly. Personally, I value time with my family and nutritious dinners above all else. Therefore, the house is not as clean and the meals not as elaborate as they used to be. I also no longer eat lunch with work friends, but eat in the car as I drive to my childcare provider's house at noon.