The benei kehos carried the miizbeiach whilst the Jews travelled. It would seem improbable that the mishkon was erected every day whilst they journeyed. What happened with the sacrifice of the Daily korban tomid? Was it suspended whilst they journeyed?
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In Eruvin - :דף סג - we learned that Yehoshua was punished for not bringing the Korban Tomid. Apparently after the battle at Ay there was no time/energy left to erect the Mishkan.
It would appear that otherwise it was brought daily - as Fred already mentioned - as is mentioned in Chagiag דף ו.
As a result it would seem that they did erect the Mishkan daily.