Roman military equipment did not change much between the early 2nd century B.C. and the late 1st. (I assume you're talking about Scipio Africanus, but the answer remains the same if you're asking about Scipio Aemilianus)

The organisation and composition of the Roman legion changed a great deal in this period, about which I've written in the past. But the equipment did not: both in Scipio's and in Caesar's day, a Roman legionary would often be using a short gladius style sword, long-shanked pilum style javelin(s), large scutum style shield, mail armour, and bronze helmet.

The changes in equipment that did happen mostly involve items disappearing: Caesar's legionaries no longer tended to use greaves, many no longer carried pugio daggers, there were no more triarii carrying long hasta stabbing spears, and the vast majority of legionaries now wore mail shirts, as opposed to older style bronze pectoral plates (for the poorer soldiers) and bronze muscled cuirasses (for the richest, still used by some officers in Caesar's day and beyond.).

There were some subtle changes in the equipment itself: iron helmets were slowly coming into use, although this is mostly an imperial development. The scutum was now usually square rather than oval, though the old style didn't disappear completely, and the gladius now tended to be the slightly shorter, broader mainz pattern rather than the older hispaniensis style (although few Republican era swords have been found, leaving some uncertainty.).

Perhaps the biggest change was the much increased use and availability of siege artillery, mostly consisting of various types and sizes of ballistae. Caesar made quite heavy use of these, but although the Greeks had long been using them the earlier Roman armies hadn't adopted them yet in Scipio's time.

More in general, Caesar's legions had become better engineers than Scipio's, because they were professional, long-serving formations capable of developing such skills more easily. Romans had always build fortified marching camps for safety in hostile territory, but in Caesar's day they often constructed extensive earthworks and siegeworks. A century after Caesar, Josephus tells us that each man carried a saw, a basket (for earth), a pick, an axe, a bill-hook and a chain. (Fortunately for the poor muli Mariani, the actual mule allotted to each contubernium of 8 men carried this stuff. And it is likely that not every man had all of these tools, but that some of each would have been available to the contubernium.) Based on all this, some historians (Kate Gillever, specifically) have said that "combat engineers" is as apt a description of Roman legionaries in this period as "heavy infantry" is.

Hope that helps! Most of this is fairly basic information, taken from Goldsworthy's the Complete Roman Army.