If something made of lead, such as a lead pipe, fully pierced a limb and was there for two or three hours, would that cause lead poisoning? no, this hasn't happened, i'm just morbidly curious?

No. The lead must be in a form that is "bioavailable" to enter the bloodstream. Fumes from lead smelters that are inhaled or deposited on clothing to leach out later. Lead in paint chips that are ingested, lead in fumes from the old leaded gasoline are examples of bioavailable lead. This event would just be a wound that could be flushed out and eventually heal.