The grammar is mostly okay (other than using "this" when "that" would be more appropriate), but it could certainly sound more natural if it was briefer. You're including lots of information that could be understood from the context. I would recommend:
Is it okay if I stop by at 6? Will you be home?
If you're really concerned that your listener thinks you might mean 6 am (which is unlikely since that's not a common time for social visits), you could include "this evening":
Is it okay if I stop by at 6 this evening?
If you really want to clarify the time in the second question (which is really unnecessary since you included an exact time in the first question) , I would recommend using "then":
Will you be home then?
If you really want to use a prepositional phrase "at that time" would work better than "at this time."