Is it permissible for me to travel to visit my daughter in the Kingdom and help her with her household affairs, while intending to perform 'Umrah, without a mahram?

A woman's travel without a mahram (definition) is impermissible, due to the Prophet's (peace be upon him) saying: "No man should be alone with a woman unless there is a mahram with her, and a woman should not travel except with a mahram." Some scholars make exceptions for obligatory Hajj and 'Umrah (definition) travel with a trustworthy company, and in cases of necessity, such as emigration from a land of disbelief. Some scholars also permit her travel with a trustworthy company for any journey of obedience. Therefore, if the 'Umrah is obligatory, she may travel without a mahram with a trustworthy company. However, if it is voluntary, travel without a mahram is not permissible.