@iSkyle 

Perhaps assigning a static IP for the printer, or using MAC/ARP/IP binding. Next, put the printer IP in the DMZ of the router 1, which would allow router 2 access without sacrificing router 2 features. Possibly some work might be needed on router 2 too, placing the printer IP in router 2 DMZ. If the printer has UPnP along with router 1, this might help the setup. Attempt one option/parameter at a time to see how goes the result.

Some options to explore, good luck, do update with results.

@Godzilla 

The thing is that i cannot assign a IP for the printer because, i use the Print Server function from Router

I kinda need to access the Local Network from Router 1 through Router 2, because this is how the App works...