Hi Porter
Just a bit of clarification to start. The citation listed in your question is from the Dictionary of National Biography (usually abbreviated to DNB). The ODNB is the standard abbreviation for the Oxford Dictionary of National Biography, which is basically a later version of the DNB, but they aren't the same and it is important that any source citation makes it clear which version has been viewed.
The ODNB isn't available online for free anywhere, but is available via various Library subscriptions, at least in England and Australia.
The details in the Houses of Parliament article for Robert Beale basically reflect what is in the ODNB, particularly as to his parents names, and I think his birth place could be put down as London, England but marked uncertain. I wouldn't put it down as Cheapside, London, I think that is assuming too much.
The Visitations of Surrey, 1550, 1572 & 1623, p. 79 list 4 children of Robert Beale and his wife Edith St Barbe; son Francis, and daughters Margaret, Catherine and Elizabeth, and I presume these are the 4 who survived, which would mean the son Robert must have died young.
I'm not an expert on categories, so will leave any discussion on those for others.