"Is there anyway to do this other than copying and pasting each worksheet into a new workbook every day? "
Before you open the file, go to the folder using Windows Explorer, copy and paste the file, rename the copy to todays date and then go and open your original.
There are loads of little applications for free on the internet which will backup a file incremently every day for you in a folder (do the copy and pasting automatically). It would run in the background on your pc. You would then have a dated copy of your original file each day