I used this example http://matplotlib.org/1.4.1/examples/animation/simple_3danim.html
and modified your code:
from matplotlib import pyplot as plt
import numpy as np
from mpl_toolkits.mplot3d import Axes3D
from matplotlib import animation
fig = plt.figure()
ax = fig.add_subplot(projection='3d')
def gen(n):
phi = 0
while phi < 2*np.pi:
yield np.array([np.cos(phi), np.sin(phi), phi])
phi += 2*np.pi/n
def update(num, data, line):
line.set_data(data[:2, :num])
line.set_3d_properties(data[2, :num])
N = 100
data = np.array(list(gen(N))).T
line, = ax.plot(data[0, 0:1], data[1, 0:1], data[2, 0:1])
# Setting the axes properties
ax.set_xlim3d([-1.0, 1.0])
ax.set_xlabel('X')
ax.set_ylim3d([-1.0, 1.0])
ax.set_ylabel('Y')
ax.set_zlim3d([0.0, 10.0])
ax.set_zlabel('Z')
ani = animation.FuncAnimation(fig, update, N, fargs=(data, line), interval=10000/N, blit=False)
#ani.save('matplot003.gif', writer="imagemagick")
plt.show()