"I've never seen anything like that before," Kris Muschler, the general manager at Orland Ale House.
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A picture of the moment shared with ABC7 shows the masked suspects jumped inside the Brink's truck around 2 p.m.
"My wife was up front and she came running back and said someone is holding up the armored truck out front," Muschler said.
Witnesses inside the bar said the lone Brink's driver was pushed up against the armored truck by the suspects.
"We ran up, we locked the door. I got on the phone [and] called 911 right away," Muschler said.
Muschler said people hid behind the bar's counter and in the kitchen as the armed robbery unfolded, just feet from the bar's entrance.
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"We told everybody, 'let's get to the back.' We had the front door locked. We just want everyone to get to the back and if you felt more comfortable going in our kitchen, go in our kitchen," Muschler said.
Orland Park police said the suspects got away with some cash but did not share how much money was stolen.
In a statement, Brink's said their employee was not hurt but would not comment on the investigation.
"We can confirm there was an incident involving one of our crews in Chicago today. Because this is an active investigation, we cannot provide details, but we are pleased to share that our employee was not hurt."
An Orland Park official said the village is working with the FBI to see if this armed robbery is connected to similar crimes in the area.
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Just on Tuesday, an armored truck driver was shot by three men at a strip mall in Chicago's West Chatham neighborhood.
The driver survived but police say the suspects got away.
The Village of Orland Park also released a statement, saying, "The incident is still under investigation at this time. We are working in conjunction with the FBI due to possible connection to a string of similar offenses that took place elsewhere in the region. There were no injuries as a result of this incident. We will release further information as it becomes available."
Orland Park Police have not said if any arrests were made in Saturday's attack.