lost don't know what to do

I have no idea of what to do or where to go. I am not happy in life :( . I want to leave my daughters father but I am petrified to do so, he will go back to his parents and I can not trust his brother that lives there with my daughter, he is a creep, I would never allow her to have time with her father in that house. I have tried to leave before and my daughters father just makes me feel bad, he threatens suicide and black mails me into staying.. I have no love left for him. I am struggling in life also. I am supporting myself plus 3 other adults (all my family). I have taken 2 of them into my home and not one of them helps me. I cook, clean and do all the washing plus try my hardest to be a parent. I can't keep going on like I am and I need help. I don't even know if I'd survive living off just single mums pension, I am looking for a job to support myself and my daughter also. I have no idea the point of this post except I need to get this off my chest. I am also delaying going to bed because I really don't want to be in the same room as my daughters father. how do I do it? how do I tell him I want to leave and the relationship is over? how do I make him listen? I haven't even had sex with him in over 3 months because the thought just makes me feel yuk..... he won't help around the house because he works and I don't. I ask him to do something for our daughter and you would think he was asked to run across hot coal barefoot. I don't care what he did to help, even just entertain our daughter so I can shower in peace or just hang a load of washing on the line or the dishes. maybe even order take away for tea. maybe I am asking too much of him and because I am a stay at home mum I should suck it all up and do it myself and not expect any help at all. my daughter is a very full on child and doesn't listen what so ever. I don't even think I would be able to cope with her on my own.