In reply to Plungeman:
I think the most likely terminology, or search term anyway, would be something like 'vertical pipe lifting clamp', but I've never heard of anything like that.
There are industrial camming devices that work the other way, with the cams mounted in 'jaws' to squeeze plates etc., but that's not what you mean is it? I don't know, but suspect an industrial device like a cam that you just shove inside the bore of a pipe would be too reliant on the properties of the pipe itself to be trusted.
I'd be interested to hear about it if you do find something, but my guess is whatever you're trying to do you probably need to find another way.
Another couple of links:
http://www.camlok.co.uk/Products
https://www.thecrosbygroup.com/catalog/lifting-clamps/crosby-ipcc-vertical-...
You can waste a lot of time browsing through random stuff in Crosby's online catalogue, it's huge and has tons of information about all sorts of weird and wonderful gizmos. If you can't find anything resembling the thing you're thinking of in there, it's quite likely that it doesn't exist.