It certainly would be possible -- in fact you'd be very welcome. Drop in for an hour, for a day, for a week -- your choice. If you're going to do that, you may wish to drop in around happy hour (4 PM, normally, though some people often hang around for a couple of hours or more), or around coffee time first thing in the morning (usually 7:00 or 7:30 AM), just to be sure people are around and about. Also, this thread will likely contain a listing of any planned activities (sometimes planned the day before), so check it to see what's going on.
As to rules, see Wendy's post above for the three rules. Of course the BLM rules apply since we're on their land, but there's not much that would apply to you for an hour or two.