I work remotely as well. It's tough, tough, tough, and I don't even have a family to take care of! When I'm up against a hundred-odd small assignments to read or thirty-some papers to grade, the laundry becomes fascinating. I realize that I need to scrub out the oven, or the fridge, or both. I decide for some reason that it's a good time to go grocery shopping (again). In short, it's very difficult for me to get anything done with work when I am distracted by my home, and it's tough for me to get home things done when I need to work. (Grading becomes strangely appealing when I realize that I've dropped yet another spoon into the garbage disposal and need to fish it out before I can run it.)
For me, I really, really need to have a space that is for work only. That is the only way that I can really not drive myself nuts trying to balance things. Because I don't have an office set up, I'll usually run to the local library with my laptop. If you're able to take your work somewhere out of the house, that might be a good idea. It will make the line between "work time" and "home time" a lot clearer for you. If that isn't a possibility, then do whatever you can to make "work time" clear at home. Get into your work clothes. Set up your computer and your documents in a corner somewhere so you can't see the state of the house, kick any family members out of the room, and get to it. It might help to set a timer so you are scheduling breaks. Set the timer for half an hour to an hour. When it pings, take a few minutes. Get up, make a cup of tea, pet the cat, make sure the kids aren't dyeing the dog purple, etc. When your break is up, go back to work.
It's a real challenge for some people (I'm one of them). Sometimes, I like the flexibility, but other times, I really wish my home was my sanctuary and a place for relaxation. Being in a space that is devoted to conflicting responsibilities is very challenging for me.