Your husband sounds like an @ssh@t.
My ex was very similar. I felt like as well as having my baby; my partner acted like a cranky teenager. I had to tip toe around him, he expected sex every day and would whinge about the state of the house. He only complained, never offered to help.
I left him and it was the best decision ever. Three years later I'm happy. My stress levels have dropped and I'm much better of financially and emotionally.
If your partner is not being a partner in your life, you need to make the decision to work hard on it together or separate.