https://datatables.net/examples/api/row_details.html

function misAlbaranes(Finicio, Ffin, Tipo) {//Esta función es la que  ejecuta la tabla de albaranes.
    var parametros = {
        "Finicio": Finicio,
        "Ffin": Ffin,
        "Tipo": Tipo,
    };
    $.fn.dataTable.moment('DD/MM/YYYY');
    tblAlbaranes = $('#tbl_Albaranes').DataTable({
           stateSave: true, //Guarda el estado de la tabla, orden, pagina etc
            colReorder: true,
            "autoWidth": false,
            "processing": true,
            "destroy": "true",
            "pagingType": "simple",
            "responsive": {
                "details": false,
            },

            "ajax": {

                "data": parametros,
                "url": "php/AgrApp/albaranes.php",
                "type": "POST",
                "dataSrc": "",
            },

            "columns": [
                {
                    "data": "id",
                },{
                    "defaultContent": "<button type='button' " title="Ver detalle" class='linAlb btn btn-primary btn-xs '><span class='glyphicon glyphicon-zoom-in'></span></button>",
                    "responsivePriority": "1",
                    "width": "3%",
                },{
                    "data": "nro_ser",
                    "responsivePriority": "2"
                }, {
                    "data": "fac_ser"
                }, {
                    "data": 'emp',
                    render: function (data, type, row) {
                        emp = devuelveEmpresa(data)
                            return emp;
                    }
                }, {
                    "data": "fch",
                    "responsivePriority": "1"
                }, {
                    "data": "finca_name"
                }, {
                    "data": "pso_net_real",
                    "responsivePriority": "3"
                }, {
                    "data": "imp",
                    "responsivePriority": "4"
                }, {
                    "data": "dto_com"
                }, {
                    "data": "dto_trp"
                }, ]
        });

   $('#tbl_Albaranes tbody').off('click', 'button.linAlb');
    $('#tbl_Albaranes tbody').on('click', 'button.linAlb', function () {

        var tr = $(this).closest('tr');
        var row = tblAlbaranes.row( tr );
        var open = row.child.isShown();
        var idLinAlb = tblAlbaranes.row($(this).parents("tr")).data();
        tblAlbaranes.rows().every( function ( rowIdx, tableLoop, rowLoop ) {
            if (this.child.isShown()) {
                this.child.hide();
                $(this.node()).removeClass('shown');
            }
        });

        if(!open){
                mvt_com_x_alb(idLinAlb['id'], function (tablinAlb) {
                row.child(tablinAlb).show(); //Esta escondido, llamo a la función
                tr.addClass('shown');
            });
        }
    });
}

function mvt_com_x_alb(idAlb,callbackFunction){

var parametros = {
        "idAlb": idAlb,
    };

    $.ajax({
        data: parametros,
        url: "php/AgrApp/lin_alb.php",
        type: "POST",
        success: function (data) {
            objJson = JSON.parse(data);
            var tablinAlb = '<table id="tbl_LinAlb" class="display responsive no-wrap" style="width:100%" ><thead><tr  HEIGHT="3">  <td  BGCOLOR="#7c979e"><font color="white">Albar&aacute;n:</font></td> <td  BGCOLOR="#7c979e" ><font color="white">Producto:</font></td><td  BGCOLOR="#7c979e" class = "text-right"><font color="white">Fecha:</font></td><td  BGCOLOR="#7c979e" ><font color="white">Certificado:</font></td><td  BGCOLOR="#7c979e" class = "text-right"><font color="white">Bultos:</font></td><td  BGCOLOR="#7c979e" class = "text-right"><font color="white">Kilos:</font></td><td  BGCOLOR="#7c979e" class = "text-right"><font color="white">Precio:</font></td><td  BGCOLOR="#7c979e" class = "text-right"><font color="white">Importe:</font></td></tr>'
            + '</thead>' + '<tbody>';
            $.each(objJson, function (i, item) {
                tablinAlb += '<tr  style="cursor: pointer;"> <td>' + objJson[i].alb_ser + '</td><td >' + objJson[i].name + '</td><td class = "text-right">' + objJson[i].fch + '</td><td>' + objJson[i].cert + '</td><td class = "text-right">' + objJson[i].cnt + '</td><td class = "text-right">' + objJson[i].pso_net_real + '</td><td class = "text-right">' + objJson[i].pre + '</td><td class = "text-right">' + objJson[i].imp + '</td></tr>';
            });
            tablinAlb += '</tbody><tfoot><tr HEIGHT="3"> <td  BGCOLOR="#7c979e"></td> <td  BGCOLOR="#7c979e" ></td><td  BGCOLOR="#7c979e" class = "text-right"></td><td  BGCOLOR="#7c979e" ></td><td  BGCOLOR="#7c979e" class = "text-right"></td><td  BGCOLOR="#7c979e" class = "text-right" ></td><td  BGCOLOR="#7c979e" class = "text-right"></td><td  BGCOLOR="#7c979e" class = "text-right"></td></tr></tfoot></table>' ;

            callbackFunction(tablinAlb);

            $(document).ready( function () {
                tblLinALb=$('#tbl_LinAlb').DataTable({
                    lengthMenu: [10, 50, 250, 1000],
                    "destroy": true,
                    stateSave: true,
                    "autoWidth": false,
                    "processing": true,
                    "responsive": true,
                    "paging": true,
                    "ordering": true,
                    "info": true,
                    "details": true,
                    "searching": false,
                    "pagingType": "simple",
                });
            });

        }
    });
}