Yes, the Rlabkey library is what you are looking for. Once you have that package installed for the R version on your given server, you can use the following command to make a query to get the study.Visit information into your R Report as a new data frame:

library(Rlabkey)
visit.data = labkey.data <- labkey.selectRows(
    baseUrl=labkey.url.base,
    folderPath=labkey.url.path,
    schemaName="study",
    queryName="Visit"
)
print(visit.data)

Let me know if that doesn't work or is not the information that you were looking for.
Thanks,
Cory Nathe