Servile insurrection was absolutely an enduring fear of the Southern slaveholders (Note: Slavery still existed in much of the North at that time, but in a considerably lesser capacity), and fear of insurrection was absolutely present in the mind during the drafting process of the Second Amendment. But, while some writers, principally Carl T. Bogus, try to focus this specifically on slave revolts, it really should only be understood as such in the broader context of 'insurrections', generally. I would direct you to /u/uncovered-history's excellent post here which goes into this in more detail, and how Shay's Rebellion, an uprising in Massachusetts in 1786 by rural farmers angered over tax issues, was the most example weighing most heavily during the writing.

I know this is a little late, but I figured I'd chime in a little bit. as /u/Georgy_K_Zhukov pointed out, I made a post not long ago that did talk about the fears that played into the creation of the Second Amendment. I can't possibly reinstate just how fearful the gentry were of peasant uprisings and arming local militias who would be answerable to the gentry was of the utmost priority. That said, there was some minor fears over slave rebellions, but overall it wasn't a major fear because slaves rarely had access to firearms.

One of the only major periods in early American history where a slave could have access to firearms was during the American Revolution itself when Lord Dunmore, the royal governor of Virginia, announced what is known as "Lord Dunmore's Proclamation". This proclimation essentially said that any enslaved man who escapes from bondage from a master who was in rebellion against the British crown could flee to the British and they would arm them and they could fight for Britain during the war. Doing so caused thousands of enslaved people to run away at a chance at earning their freedom. While they were still under British control and don't fall under the perimeters of a "rebellion," America's politician would remember the dangers of armed slaves when they would begin drafting the Constitution more than a decade later.

When it comes to actual slave rebellions, very few actually took place prior to the creation of the Bill of Rights. There a few that take place in the 13 Colonies but overall, large-scale slave rebellions (categorized as armed uprisings of more than 100 enslaved people) just isn't common, unlike the armed farmer's uprisings that were happening all over the newly formed country. Part of the reason for this is that slave rebels were treated extremely brutally, as Marjoleine Kars points out in her article, "POLICING AND TRANSGRESSING BORDERS: SOLDIERS, SLAVE REBELS, AND THE EARLY MODERN ATLANTIC" (NWIG: New West Indian Guide / Nieuwe West-Indische Gids Vol. 83, No. 3/4 (2009), pp. 191-217) Here, she explains just how brutally rebel slaves were treated, thus scaring off many slaves from considering the same actions.

So to answer your questions, the idea of slave revolts were in their mind, but it wasn't something actively debated among most politicians during the creation of the Constitution and Bill of Rights, but it was a more minor point.

​