The solution here will do rename your files only if the inode number of a file is part of the file's name in the mentioned format, which is what the OP wants.
Solution is successfuly tested at my end.
find ./ -name "*_[0-9][0-9][0-9][0-9][0-9][0-9]" -exec sh 'rename-files.sh' {} \;
Store the below script for the find command to be successful.
#Script Name: rename-files.sh
#!/bin/bash
#Store the result of find
find_result=$1
#Get the existing file name
fname_alone=`expr ${find_result} : '.*/\(.*\)' '|' ${find_result}`
fname_with_relative_path=`expr ${find_result} : '.\(.*\)' '|' ${find_result}`
fname_with_full_path=`echo "$(pwd)${fname_with_relative_path}"`
#Get the inode number of file name
file_inode_no=`find ./ -name ${fname_alone} -printf '%i'`
#Read the end of name
end_of_name=`echo $fname_alone | awk -F "_" '{print $NF}' `
#Check if end of name contains its file's inode number
if [ $end_of_name -eq $file_inode_no ]
then
#Remove the inode number at the end of file name
new_name=`expr $find_result : '.\(.*\)_.*' '|' $find_result`
#Append the path of the file
renamed_to=`echo "$(pwd)${new_name}"`
#Rename your dog_inodeno to dog
mv $fname_with_full_path $renamed_to
fi
Hope this helps.