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You can use a tool that’s called a chain breaker to push the pins through the side plates. If you have a grinder or offset head grinder, you can grind the bumps off the pins one one side and use a drift pin to drive the pins out the other side. You can get master links as well as half links in just about any size you need.
If the chain used to stay on, make sure the chain isn’t badly worn. If it is, it gets longer. The way to judge chain wear is to grasp a link of the chain on the rear of the rear sprocket with your fingers. Try to pull the chain away from the sprocket and if you can see more than one half of the tooth exposed, it’s replacing time. Worn chains will ruin sprockets.
You need to take a look at your sprockets and make sure they are not bent and make sure the rear wheel is lined up correctly. Your chain has to have some kind of slack for when there is weight on the bike.