The marriage certificate of Robert and Elizabeth.
The birth certificate of their son Joseph Albert.
Robert was born c1818 at Stowey Plusford Somerset. His father was Henry Escott.
Elizabeth was born c1813 at Bath, Somerset.
Elizabeth Baylis was a widow when she and Robert were married at Walcot in 1841. The marriage certificate names her father as William Baylis which is almost certainly incorrect; on the 1854 birth certificate of their son Joseph she is Elizabeth Escott, late Baylis, formerly Little.
The birth registrations of their first three children at Walcot RD are indexed with Baylis as her maiden name. I don't have any of the certificates but I'd guess that those register entries show the mother to be Elizabeth Escott formerly Baylis rather than Elizabeth Escott, late Baylis, formerly Little - the registrar probably didn't ask the correct questions!
