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This happens when you got no military schedule set up. By default, they go off-duty when they finish a kill order. You can set up a proper schedule (do not leave them on perpetual training. They get unhappy) so they'll get back to training or patrolling once they're done killing or you can try issuing Station or Patrol orders near the goblins instead. They won't drop their stuff after the skirmish but it gets trickier to pursue and kill routed invaders like goblins deserve. You can do this to squads that were off duty when the Siege started or you can simply edit their schedule to keep them mobilized while being besieged.
Do you have bins in these stockpiles?
Why do bins matter? Should there be bins or no bins with armor and weapon storage?
Does it work without the bin? Great, problem solved. It doesn't? Try something else.
First - Once a Cardinal, always a Cardinal.
As to what's going on, it could be a number of things. (IMO)
Did you change them to Off-Duty after combat? If so, they've got a uniform conflict or you've set them up to not always wear their uniform in place of their civilian clothing.
Dorfs won't drink/eat when engaged in active combat. But, if they have food/drink, they may do that after active combat. That could require them to drop a weapon, I guess.
Check their activity right after combat. Go order them out to kill a yak or something and see if they drop their weapons, noting what their task says they think they're doing when they do so.
They should not be doing this while actively engaged or acting under orders, only when they're freed of duty should the above stuffs possibly occur.
All just in my opinion as a relative noob. Take it for what that's worth. :)
a squad will stall if they all want to pickup/store in the same bin.
therefore, for best results regarding squad pickups, no bins
also: ready stance (shedule:ready) will let em keep their gear while doing other jobs
it can be 'forbidden' on drop as when a weapon get 'lodged' in the enemy by f.e. a stab, technically the enemy takes 'posession' of it, then theres a roll which might result in the fighter re-posessing the weapon, or not. if its a named or attached weapon and it drops after being killed , it will be forbidden. imagine your swordsdwarf sticking his sword in the torso of a goblin, but fails to grab it back, the goblin dodges and tries to run, then another swordsdwarf decapitated said goblin while its running away, leaving the first sword dropped. you might wanna use pause and unforbidding dropped weapons after a fight.