"What I would like to do is keep my family together. I do really love him and i know he does love me. But he has the sensitivity of a pig sometimes".
He does not know the meaning of the word love. Keeping your family together with him will mean that your children pay a high price in the long term. Why do you want to keep this broken and unhealthy relationship together, is it basically out of a fear of being alone with two children?.
I can see what he gets out of it; he has a willing complaint person/mug of a woman who he has beaten down deliberately over the years. He has no respect for you whatsoever, he treats you like he feels you deserve to be treated. And he does this as well because he can; this is all about power and control. He has taken what little self esteem you had to start with when you met him and systematically destroyed it.
I feel too for your child and your unborn in all this; they will see and hear their parents private war with each other (you cannot protect them fully from the abuse he metes out to you) and their house will not be the sanctuary you and your children deserve.
What do you want to teach your children about relationships, would you want either of your children to have a emotionally unhealthy and abusive relationship (and he is abusive) like the one you're in. You're showing your child that this is acceptable treatment of yourself; itself a damaging lesson.
No more carrying freezers either.
I am very sorry to read about your mother's passing; CRUSE bereavement care may help you with your feelings.