I did some black locusts removals my self too. The stings aren't frequent. The main tricks are: always look at where you put your hands and don't grad hard and (over all) fast. If there is a unseen thorn, you can feel it before taking any serious damage.
Actually the thorns are very few on the slow growing limbs and twigs (small diameter and well ramified). Very few or any at all.
The old fast growing axis loose their thorns when the bark becomes deeply ridged.
But careful, for some unknown reasons, you can find time to time one old thorn which stays on the aged bark. One in all the tree maybe, but your hand will find it, like a nail with the chainsaw !
The main pain comes from the regrowth and the new sprouts, which appear in great number after a storm damage, a heavy pruning or a dying tree. Good sized thorns everywhere. Slow movements are mandatory, because often, the offending thorns take you where you didn't wait it, like the hand's outside, the forearm ...
Those pokes are deep and very serious if they touch a finger knuckle.