Domestic abuse *might be a trigger warning*

I have twins that are nearly 3 and I’ve stayed in a toxic abusive relationship for 5 years, he gambles all his money, doesn’t pay a penny towards anything, he smokes w*eed* he doesn’t kiss, cuddle me, he sleeps on the sofa every night (apparently because he has a bad back) the only reason I haven’t left is because I don’t want my twins going to him on the weekends etc! This morning he turned it up an notch by saying to our nearly 3 year old ‘mummy’s a fat ugly c*nt’ and then my daughter copied, I tried to remain calm infront of my daughters so I asked him politely to not call me that and I got my phone out to record his abusive outbursts he got in my face and took my phone off me & hid it. He also hid the car keys and told me I couldn’t go to work and that I need to quit my job. I’m looking for advise as to what shall I do? He’s told me no one will ever want me and that I’m unfit to be a mother (not the case). I’m scared to go to the police because I don’t want our kids taken from me because of his outbursts. If you have got this far, thank you for reading