The idea dates back a very long time; however, only in the late 1869s did metallurgy advance enough to carry heavy loads. So, they were used in clocks and other light load mechanisms to reduce friction. The patent granted to Jules Suriray in 1869 was for bicycle bearings. The patent for tapered roller bearings was issued to Timken in 1898. In 1907 the first self-aligning ball bearings were introduced. WWI saw a surge of research into bearings.
Ball & roller bearings that can take heavy loads are a recent development.
Railway locomotives up into the 1940s still used Babbot bearings.