If my husband and I signed the divorce papers and it was signed by a Judge is this a binding paper as for enforcing the father to pay his child suppot

The divorce decree should state whether there is income withholding, and there should be a separate income withholding order. If there is not one, you should get one. You also should be able to file an enforcement for child support. If the children are on Medicaid, eventually, the attorney general of Texas will file an enforcement. However, sometimes the AG does not file because they are overloaded with cases. You should probably file the enforcement yourself. You can get more information here: texaslawhelp.org.