Nope. Ordinarily, you would tip when you pick up your bag and tips are likely pooled or it all comes out in the wash. But, here you are asking someone to receive luggage for you when you are not a guest. They need to get paid. So does the guy who retrieves the bags.

I would not tip less than $10. # of bags and days is sort of irrelevant unless you've got steamer trunks.