If you can get away from him long enough, call 1-800-799-SAFE (I'm assuming you're in the US?). That's a domestic abuse hotline number. The person on the other end of the phone can help you.
But yet your message is a bit conflicting. You say you told him "counseling or divorce". Yet later on you say you want to get away from him. Which is it? If it is the latter, call the hotline.
Good luck with everything. I give you lots of credit for acting in the best interests of your kids.