From the matplotlib docs for autoscale_view:
The data limits are not updated automatically when artist data are changed after the artist has been added to an Axes instance. In that case, use matplotlib.axes.Axes.relim() prior to calling autoscale_view.
So, you’ll need to add two lines before your plt.draw() call after the set_data call:
axes.relim()
axes.autoscale_view(True,True,True)