Yes, within Metropolitan Tokyo area there are such services, but not all takkyubin services have same day delivery service especially if it is suitcase and not a box with less dimensions than specified.

However, such service is very expensive. Next day delivery takkyubin is very reasonable in Japan. But same day luggage delivery is very expensive and such service is only available at large city like Tokyo and not nation wide service. Last time I looked up such service in Tokyo it was cheaper to do it on my own using taxi.

If you want to use such service ask at the hotel. Especially at Conrad Tokyo I shipped boxes using takkyubin before, the hotel handled pretty much everything. They brought boxes and forms to my room. Once I packed and filled the form, just call and staff was at my room in few minutes. The staff had rate chart and could tell me exact charge for takkyubin and took boxes from the room. Takkyubin was charged to my room.