Assuming br0 is the home net, and br1 the guest one:
iptables -t nat -A PREROUTING -i br1 -p tcp --dport 80 -j DNAT --to-destination 192.168.1.100 # ip of the proxy box
To set up the redirection, then
iptables -A FORWARD -m state --state ESTABLISHED,RELATED -j ACCEPT
(check if it is not already there) to allow already established connections, it simplifies the rules,
iptables -A FORWARD -m state --state NEW -i br1 -o br0 -p tcp --dport 80 -d 192.168.1.100 -j ACCEPT
Allow connections from the guest net to the proxy box (this gets processed after the DNAT)
iptables -A FORWARD -i br1 -o br0 -j DROP
Forbid all other traffic between the bridges.
Your device is probably already configured as a router, but if not, you may need to enable forwarding too:
echo 1 >/proc/sys/net/ipv4/ip_forward