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Looks like a snail of some sort. I have hundreds of things that have come out of my live rock over the past year. It's a harmless filter feeder but there are probably a lot of them in there, so it wouldn't hurt to suck him out at water change time.
Looks like a chiton. Not sure what kind... But from what I've read up on them they like to eat diatoms and munch on coralline algae. I'm pretty sure it's a good guy! Hopefully someone else chimes in.