If you can't afford a lawyer, are you definitely not eligible for public funding (legal aid)?
If the Court previously made an Order, presumably he made the application and therefore will need to make a further application and you can go and act 'in person' to explain to the Court your concerns (and perhaps ask for a CAFCASS officer to be appointed to do a full investigation). Although be prepared for that to take some time, depending on your location, as resources in CAFCASS were extremely short when I last worked in the area (about 6 months ago before I left UK)
Until such time as a further Order is in place (and I am certain it would be one that requires the contact be supervised especially as there have been recent injunction orders), then I think YANBU to suspend Contact because it is not in the interests of your children to be put into a potentially risky situation.
If the father was being reasonable, he would agree to a period of supervision to allay your potential concerns in light of a recent sectioning and Court order requiring supervised visits.
I think you should go and get a free half hour consult at a local family lawyer. They will give you some basic info and peace of mind (hopefully) that will stop you fearing the worst. They may even give you some advice about acting for yourself, if this is what is required.
I just reread your post and your injunction orders are current, yes? Assuming they are orders that may prohibit him from coming within a certain distance of the children as well as you? I know that seems contradictory to the recent Contact order and I can't remember if it is possible to have the two running side by side with supervised contact and then terms in the non-mol order. If this is the case and the contact order has now lapsed, then it would be a breach of the non-mol order for him to see children anyway and in a practical sense, he would be breaching the non-mol if he had to collect them from you or you drop them off to him, if you see what I mean.
I fear I am going round in circles typing my incoherent thoughts as they come to mind.
I hope you can get things sorted and do try for the free half hour consult. Also, am sure there is something on the HMCS website about how to proceed if you are a litigant in person and unrepresented. Additionally, his Solicitor is obliged to communicate with you if you contact them and say you are acting for yourself. Assume he still has a family lawyer? Depending on the person, they may be useful too. Obviously, they represent his interests but everyone in family law proceedings i obliged first and foremost to act in the interests of the children.......keep trying to get information and speak to Court/legal professionals who are free of charge. Try CAFCASS website too, they might have information on there for parents without Solicitors.