There are 6 Robert Harper b Yorkshire 1884-1887.This one is the nearest geographically to Beverley on the 1891 census
Youlthorpe Hill, Youlthorpe with Gowthorp, Pocklington, Yorkshire, England
George Harper Head Married Male 35 1856 Agricultural Labourer Yorkshire
Elizabeth Harper Wife Married Female 35 1856 - Yorkshire
Annie E Harper Daughter - Female 10 1881 Scholar Yorkshire
Mary E Harper Daughter - Female 8 1883 Scholar Yorkshire
Robert Harper Son - Male 7 1884 Scholar Yorkshire
James Harper Son - Male 6 1885 - Yorkshire
George W Harper Son - Male 4 1887 - Yorkshire
John Harper Son - Male 2 1889 - Yorkshire
Ethel M Harper Daughter - Female 0 1891 - Yorkshire
The actual image says that Robert and younger siblings were born in Youlthorpe