Probably somewhere in 2019, but it'll likely be a "lesser" Zelda, in the vein of the handheld games of the past. Maybe 2D/top-down, or something like it - Aonuma has actually stated as much.
http://www.gameinformer.com/b/features/archive/2017/02/14/a-2d-zelda-on-the-switch-is-definitely-a-possibility.aspx
Of course this is not counting a SS HD, which I could see releasing sometime in 2018. Same goes for additional BOTW DLC.
As for a new, big, triple-A Zelda game, I'd say 2020, at the earliest.
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