Are there any emergency loans?

It really depends upon the amount you need to borrow and the length of the loan.  I assume your reference to an emergency loan is a short term loan, meaning a loan that can be repaid in 24 months or less.  Your credit score can also affect the terms of your loan.  If you have bad credit you are going to have a much higher APR.  So there are many factors to consider to determine your best option for an emergency loan.  You can read this article about taking out an emergency loan - https://www.bigpictureloans.com/blog/taking-out-emergency-loan

You are right that withdrawing from your 401k should be the last resort, as you will need to pay income taxes plus 10% penalty if you are younger than 59 1/2 years old.
A better option may be the 401k loan option, if your plan allows this. Check with your plan administrator. This way, the loan will be tax free and penalty free. You can borrow up to 50% of your retirement funds or $50,000, whichever is less. You will have 5 years to pay back the loan and have to pay a small interest. However, the interest will be paid to yourself (back to the 401k). The downside is that if you lose your job, the loan will have to paid back in full immediately after you leave your current employer.