The basic differences:
Z87 is to top end chipset. Great for overclocking and SLI and other chipset features.
H87 basically the same as Z87 minus the overclocking abilities, and doesn't support triple SLI
H81 budget level, no overclocking, no sli, limited sata 6gb/s, limited usb 3.0
The B85 you mention is a business focused chipset, and it is the budget level with limited options of the other business chipsets.