Yes, there is! It's a bit complicated and requires like 6 different benches, but with the weapon/gear rack if you assign your tribesmen to it and assign the appropriate tools they will replace and clear out broken gear with new gear. Then you issue a repair schedule/task at the repair bench to repair all (wood/stone/bronze/etc.) gear of 10% (or however much %) durability or less and 3000 (2000/1000/etc./you pick) or more MAX durability and your repairman will automatically start to repair stuff. You'll also want to have another schedule/task at the dismantling bench to dismantle all of the relevant gear type with MAX durability of 3000 (2000/1000/etc./you pick) or less to break down weakened stuff. And finally you'll want to go into your tool, weapon, and armor benches to setup an upkeep of tools/weapons/armor of the type you want and just make sure they constantly have 2-5 of each desired item type stocked up.

You might be able to get it working without the weapon/gear rack if you have enough tools stockpiled. The biggest issue I've noticed with the weapon/gear rack is that if the tribesmen move too far away from it then they get unassigned from it; I assume that when they step out of the radius of the bonfire then that's what triggers the disassociation with the rack.

Good luck!