设该公司组装$A$型器材$x$套,则组装$B$型器材$\left(40-x\right)$套,依据题意得
$\left\{\begin{array}{l}7x+3\left(40-x\right)\leqslant 240\\4x+6\left(40-x\right)\leqslant 190\end{array}\right.$,
解得$25\leqslant x\leqslant 30$,
由于$x$为整数,所以$x$取$25$,$26$,$27$,$28$,$29$,$30$.
故组装$A$、$B$两种型号的健身器材共有$6$套组装方案.
①$A$种型号的健身器材$25$套,$B$种型号的健身器材$15$套;
②$A$种型号的健身器材$26$套,$B$种型号的健身器材$14$套;
③$A$种型号的健身器材$27$套,$B$种型号的健身器材$13$套;
④$A$种型号的健身器材$28$套,$B$种型号的健身器材$12$套;
⑤$A$种型号的健身器材$29$套,$B$种型号的健身器材$11$套;
⑥$A$种型号的健身器材$30$套,$B$种型号的健身器材$10$套.