ETA: Sorry, I didn't really answer your question. My husband travels about 3 weeks a month, often internationally. Right now, he's heading home from a weeklong trip to Milan and London. He's all over the map….Asia, South and Central America, Europe, Australia, and when he's not off the continent, he's at his home office back east. When he's not back east, he's at his local office or home office. So, the logistics of our lives dictate that I handle most of the childcare stuff. However, when he is home and when his schedule allows, he does pick up from sports practices and spends alone time with our son (all of the other kids are now grown, graduated from college, and live on their own). He has always done whatever he could when he was home, and when I needed to shop or get things done, he never complained about being alone with the children. So, with a schedule like that, if he can happily spend time with his children, I think your husband can do so as well. You both just need to talk about this.
ORIGINAL:
When you have lives and careers as busy as yours, something's gotta give. If your husband feels like it is beyond him to spend quality time alone with his children (dad's don't "watch" their own kids….babysitters and nannies watch children), then you need to set aside some of your combined salaries to pay the nanny to come more frequently so you can have some of your own adult time. Look at it this way….why work so hard and be away from home so many hours if you can't spend that money to make your life easier and more pleasurable? What's the point?
Beyond that, you and your husband will hopefully talk at some point when you're both not annoyed and come to some understanding about how you spend time with your children. Your kids are very young right now, and the time squeeze is only going to get more pronounced as they start school, sports, activities, etc. Get on the same page now before the really busy child-rearing years start.