He was a pastor at Jesus the Living Water Church in Eastbourne, East Sussex.
Six other people were injured at the event by a falling sign, four of whom were taken to hospital for treatment.
In a statement, his church said: "Pastor Robert was a faithful servant of God, a loving husband to Isay, a devoted and caring father to Ellie, and a blessing to so many people whose lives he touched. His life, his faith, his love, and his service to God will never be forgotten."
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