Postgres 9.6 export the database structure as pdf
You need a Entity Relation Diagram (ERD) generator. The most popular and advanced one that I know of that is FOSS is SchemaCrawler.

It does everything you want anyway. Though the diagrams are generated with Graphviz (so don't expect Visio quality).

You may want to go scavenger hunting through different graphviz viewers. This one using d3 seems to be pretty decent.