I have a DVD recorder that I use to record programs off my TV. I record onto a DVD-RW and use that to upload to my PC. I use a program called DVD Decrypter to upload the vob files to my PC, then use StaxRip to edit the vob files into individual files. It lets you choose between several different containers. (avi, mp4, divx, etc.) Both are free programs I downloaded from the internet.
Do an internet search for both and there are sites to upload the programs and several tutorials telling how to use them. Both are pretty straight-forward and easy to use.
Haven't seen anything that will let you download just part of a vob. Try the two programs I suggested. As long as disc space isn't an issue, ripping the whole DVD isn't really that bad.
There are probably others, maybe even better programs out there, but I've used these and am happy with the results.