You already got a number of excellent answers. There is yet another possible approach (although the reloading part is the same as in cstoll's answer).
If you are certain that nobody and nothing else but Ansible will ever manipulate firewalld rules, you can use a template to directly generate the zone XML files in /etc/firewalld/zones . You will still need to add
notify: reload firewalld
and the corresponding handler, as in cstoll's answer.
The main advantage of this approach is that it can be dramatically faster and simpler than adding the rules one at a time.
The drawback of this approach is that it will not preserve any rules added to firewalld outside of Ansible. A second drawback is that it will not do any error checking; you can create invalid zone files easily. The firewall-cmd command (and thus the firewalld module) will verify the validity of each rule. For instance, it checks that zones do not overlap.