How can we enforce visitation without going to court?

My husband's ex-wife has been denying visitation for about the last year. My husband has gotten a little behind on child support payments due to not having any work. (Construction worker) But for the past 5 years, he has paid over each month by approx $100 to help with insurance. So technically, he's ahead. But to his records, he's behind. When she doesn't get child support, she doesn't let the kids come over. She tells them it's because they're father is worthless and doesn't care about them, which is untrue and the kids know this. We have seen them a total of 12 DAYS in the last 6 months. In the divorce decree, my husband gets the kids every other weekend, the month of July, and Father's day. Right now, we can't afford a lawyer. He has been sending in support. He sends it through the clearing house so that there is a paper trail. She has told my husband before that if they go back to court, they will use the same judge and that she had taken care of that judge's mother. Any advice?