If you do the router1/switch/router2 set up then devices on router 2 can access router 1 devices... (I have something like that here)
But with switch-router/router they can not see each other (normally).
My system Modem-router1-Router2.. NOTHING is on Router 2 save a couple of "Smart" outlets and occasionally the phone that turn 'em on and off. (it's also mac locked) but when I had a computer on Router 2 due to other 2.4Gig Wifi devices (Router one is 5Gig) it could see router 1 devices but not the other way around.
Basically either system works... just one is a tad more secure. (The one you have been using)