Here is my working solution:
import os
os.environ["R_HOME"] = r"D:\Install\R\R-3.6.1"
os.environ["PATH"] = r"D:\Install\R\R-3.6.1\bin\x64" + ";" + os.environ["PATH"]
import rpy2
from rpy2.robjects import pandas2ri, packages
pandas2ri.activate()
stats = packages.importr('stats')